# Native spherical (WGS84) coordinates?

Hello all,

I'm looking to build a simulation where I can *accurately* bookkeep my robots position in geodetic coordinates (WGS84 datum).

Unfortunately the ROS+Gazebo+Hector GPS plugin route isn't likely to work, exactly because I'm trying to simulate vehicles at high latitude (near the poles), and traveling large distances *O*(10 km).

Is it possible for Gazebo to run a simulation natively in spherical coordinates? I haven't been able to find any resources to date on this.

If not, have any others found themselves in a similar situation? Outside of writing a dynamical model in MATLAB or similar, have others found an acceptable solution?