[DataMember]
        public float PosX
        {
          

            get { return es.EntityState.Pose.Position.X; }
            set { es.EntityState.Pose.Position.X = value; }
        }

        [DataMember]
        public float PosY
        {
            get { return es.EntityState.Pose.Position.Y; }
            set { es.EntityState.Pose.Position.Y = value; }
        }

        [DataMember]
        public float Phi
        {
            get { return es.EntityState.Pose.Position.Z; }
            set { es.EntityState.Pose.Position.Z = value; }
        }

 // Raul - Jan 2010 - Create GPS Entity
private VisualEntity CreateGPSEntity()
{
   VisualEntity GPSent = new GPS.PioneerGPSEntity();
    
   GPSent.State.Name = "SimulatedGPSEntity";

   GPSent.ServiceContract = pxGPS.Contract.Identifier;                        

   CreateService(
     pxGPS.Contract.Identifier,
     Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
     "http://localhost/" + GPSent.State.Name)
   );
    
   return GPSent; 
}

 foreach (ServiceInfoType info in list)
{
  if (info.Contract == sicklrf.Contract.Identifier ||
      info.Contract == drive.Contract.Identifier ||
      info.Contract == arm.Contract.Identifier ||
      info.Contract == pxsonar.Contract.Identifier ||
      info.Contract == pxbumper.Contract.Identifier ||
      info.Contract == pxPanTilt.Contract.Identifier ||
      info.Contract == webcam.Contract.Identifier ||
      info.Contract == pxGPS.Contract.Identifier )
}

 else if (info.Contract == pxGPS.Contract.Identifier)
{
  _eventsPort.PostUnknownType(
     new OnConnectGPS(this, info.Service));
}

 _gpsPort = ServiceForwarder<pxGPS.SimulatedPioneerGPSOperations>(
                onConnectGPS.Service);

_gpsShutdown = new Port<Shutdown>();

pxGPS.Subscribe subscribeOp = new pxGPS.Subscribe();

subscribeOp.NotificationPort = _gpsNotify;
subscribeOp.NotificationShutdownPort = _gpsShutdown;

_gpsPort.Post(subscribeOp);

yield return Arbiter.Choice(
  subscribeOp.ResponsePort,
  delegate(SubscribeResponseType response)
  {
     LogInfo("Subscribed to " + onConnectGPS.Service);
  },
  delegate(Fault fault)
  {
     _gpsShutdown = null;
     LogError(fault);
  }
);

 Arbiter.ReceiveWithIteratorFromPortSet<OnConnectGPS>(
   true, _eventsPort, OnConnectGPSHandler),
   
Arbiter.ReceiveFromPortSet<OnDisconnectGPS>(
  true, _eventsPort, OnDisconnectGPSHandler),

Arbiter.ReceiveWithIterator<pxGPS.Replace>(
   true, _gpsNotify, OnGPSReplaceHandler),

 WinFormsServicePort.FormInvoke(
  delegate()
  {                        
     _driveControl.ReplaceGPSData(replace.Body);
  }
);