diff --git a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt
index deb8d56..26e04d7 100644
--- a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt
+++ b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt
@@ -44,8 +44,9 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetMapByName.srv"
+  "srv/GetLocationByName.srv"
   LIBRARY_NAME ${PROJECT_NAME}
-  DEPENDENCIES nav_msgs builtin_interfaces
+  DEPENDENCIES nav_msgs builtin_interfaces geometry_msgs
 )
 ament_export_dependencies(rosidl_default_runtime)
 
diff --git a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/package.xml b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/package.xml
index 9371503..d7e90c0 100644
--- a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/package.xml
+++ b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rclcpp</depend>
   <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
   <exec_depend>builtin_interfaces</exec_depend>
diff --git a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/srv/GetLocationByName.srv b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/srv/GetLocationByName.srv
new file mode 100644
index 0000000..b037879
--- /dev/null
+++ b/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/srv/GetLocationByName.srv
@@ -0,0 +1,4 @@
+string name
+---
+geometry_msgs/Pose pose
+bool ok
\ No newline at end of file
diff --git a/src/devices/map2D_nws_ros2/CMakeLists.txt b/src/devices/map2D_nws_ros2/CMakeLists.txt
index c203639..dd432c8 100644
--- a/src/devices/map2D_nws_ros2/CMakeLists.txt
+++ b/src/devices/map2D_nws_ros2/CMakeLists.txt
@@ -33,6 +33,7 @@ if(NOT SKIP_map2D_nws_ros2)
     PRIVATE
       YARP::YARP_os
       YARP::YARP_sig
+      YARP::YARP_math
       YARP::YARP_dev
       rclcpp::rclcpp
       std_msgs::std_msgs__rosidl_typesupport_cpp
diff --git a/src/devices/map2D_nws_ros2/Map2D_nws_ros2.cpp b/src/devices/map2D_nws_ros2/Map2D_nws_ros2.cpp
index 5e3be30..9da5628 100644
--- a/src/devices/map2D_nws_ros2/Map2D_nws_ros2.cpp
+++ b/src/devices/map2D_nws_ros2/Map2D_nws_ros2.cpp
@@ -15,7 +15,6 @@
 #include <yarp/dev/IMap2D.h>
 #include <yarp/dev/INavigation2D.h>
 #include <yarp/dev/GenericVocabs.h>
-#include <yarp/math/Math.h>
 #include <yarp/os/Log.h>
 #include <yarp/os/LogComponent.h>
 #include <yarp/os/LogStream.h>
@@ -32,6 +31,10 @@ using namespace yarp::os;
 using namespace std;
 using namespace std::placeholders;
 
+#ifndef DEG2RAD
+#define DEG2RAD M_PI / 180.0
+#endif
+
 namespace {
 YARP_LOG_COMPONENT(MAP2D_NWS_ROS2, "yarp.device.map2D_nws_ros2")
 }
@@ -96,6 +99,7 @@ bool Map2D_nws_ros2::open(yarp::os::Searchable &config)
     //ROS2 configuration
     if(config.check("getmap")) m_getMapName = config.find("getmap").asString();
     if(config.check("getmapbyname")) m_getMapByNameName = config.find("getmapbyname").asString();
+    if(config.check("getlocbyname")) m_getLocByNameName = config.find("getlocbyname").asString();
     if(config.check("roscmdparser")) m_rosCmdParserName = config.find("roscmdparser").asString();
     if(config.check("markers_pub")) m_markersName = config.find("markers_pub").asString();
     if (!config.check("node_name")) {
@@ -128,6 +132,8 @@ bool Map2D_nws_ros2::open(yarp::os::Searchable &config)
                                                                                        std::bind(&Map2D_nws_ros2::getMapCallback,this,_1,_2,_3),qos );
     m_ros2Service_getMapByName = m_node->create_service<map2d_nws_ros2_msgs::srv::GetMapByName>(m_getMapByNameName,
                                                                                                               std::bind(&Map2D_nws_ros2::getMapByNameCallback,this,_1,_2,_3));
+    m_ros2Service_getLocByName = m_node->create_service<map2d_nws_ros2_msgs::srv::GetLocationByName>(m_getLocByNameName,
+                                                                                                              std::bind(&Map2D_nws_ros2::getLocByNameCallback,this,_1,_2,_3));
     m_ros2Service_rosCmdParser = m_node->create_service<test_msgs::srv::BasicTypes>(m_rosCmdParserName,
                                                                                                   std::bind(&Map2D_nws_ros2::rosCmdParserCallback,this,_1,_2,_3));
 
@@ -141,11 +147,11 @@ bool Map2D_nws_ros2::open(yarp::os::Searchable &config)
 void Map2D_nws_ros2::run()
 {
 
-//    if(!m_spinned)  //This is just a temporary solution.
-//    {
-//        rclcpp::spin(m_node);
-//        m_spinned = true;
-//    }
+   if(!m_spinned)  //This is just a temporary solution.
+   {
+       rclcpp::spin(m_node);
+       m_spinned = true;
+   }
 }
 
 bool Map2D_nws_ros2::close()
@@ -315,7 +321,6 @@ void Map2D_nws_ros2::getMapByNameCallback(const std::shared_ptr<rmw_request_id_t
     mapToGo.info.height = theMap.height();
     mapToGo.info.width = theMap.width();
 
-    double DEG2RAD = M_PI/180.0;
     double tmp=0;
     theMap.getResolution(tmp);
     mapToGo.info.resolution=tmp;
@@ -357,3 +362,40 @@ void Map2D_nws_ros2::getMapByNameCallback(const std::shared_ptr<rmw_request_id_t
         m_ros2Publisher_map->publish(mapToGo);
     }
 }
+
+void Map2D_nws_ros2::getLocByNameCallback(const std::shared_ptr<rmw_request_id_t> request_header,
+                              const std::shared_ptr<map2d_nws_ros2_msgs::srv::GetLocationByName::Request> request,
+                              std::shared_ptr<map2d_nws_ros2_msgs::srv::GetLocationByName::Response> response)
+{
+    YARP_UNUSED(request_header);
+    YARP_UNUSED(response);
+
+    yarp::dev::Nav2D::Map2DLocation loc;
+    geometry_msgs::msg::Pose locPose;
+    if(!m_iMap2D->getLocation(request->name, loc))
+    {
+        yCError(MAP2D_NWS_ROS2) << "Unable to retrieve the requested location";
+        response->pose = locPose;
+        response->ok = false;
+
+        return;
+    }
+    geometry_msgs::msg::Pose goal_pose;
+    goal_pose.position.x = loc.x;
+    goal_pose.position.y = loc.y;
+    goal_pose.position.z = 0;
+    yarp::math::Quaternion q;
+    yarp::sig::Vector v(4);
+    v[0] = 0;
+    v[1] = 0;
+    v[2] = 1;
+    v[3] = loc.theta * DEG2RAD;
+    q.fromAxisAngle(v);
+    goal_pose.orientation.x = q.x();
+    goal_pose.orientation.y = q.y();
+    goal_pose.orientation.z = q.z();
+    goal_pose.orientation.w = q.w();
+
+    response->pose = goal_pose;
+    response->ok = true;
+}
diff --git a/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h b/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h
index 8da3fc7..44fc9a4 100644
--- a/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h
+++ b/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h
@@ -12,6 +12,8 @@
 #include <sstream>
 #include <mutex>
 
+#include <Ros2Utils.h>
+
 #include <yarp/os/Network.h>
 #include <yarp/os/Port.h>
 #include <yarp/os/Bottle.h>
@@ -22,6 +24,7 @@
 #include <yarp/os/Thread.h>
 #include <yarp/os/BufferedPort.h>
 #include <yarp/os/RpcServer.h>
+#include <yarp/math/Math.h>
 #include <yarp/sig/Vector.h>
 #include <yarp/dev/IMap2D.h>
 #include <yarp/dev/MapGrid2D.h>
@@ -45,6 +48,7 @@
 
 //Custom ros2 interfaces
 #include <map2d_nws_ros2_msgs/srv/get_map_by_name.hpp>
+#include <map2d_nws_ros2_msgs/srv/get_location_by_name.hpp>
 
 
 /**
@@ -60,6 +64,7 @@
  * | name           |      -        | string  | -       | map2D_nws_ros         | No          | Device name prefix                                            |                                                                                                 |
  * | getmap         |      -        | string  | -       | getMap                | No          | The "GetMap" ROS service name                                 |               For the moment being the service always responds with an empty map                |
  * | getmapbyname   |      -        | string  | -       | getMapByName          | No          | The "GetMapByName" ROS2  custom service name                  | The map returned by this service is also available via publisher named "getmapbyname value"/pub |
+ * | getlocbyname   |      -        | string  | -       | getLocationByName     | No          | The "GetLocationByName" ROS2  custom service name             |                                                                                                 |
  * | roscmdparser   |      -        | string  | -       | rosCmdParser          | No          | The "BasicTypes" ROS service name                             |             This is used to send commands to the nws via ros2 BasicTypes service                |
  * | markers_pub    |      -        | string  | -       | locationServerMarkers | No          | The visual markers array publisher name                       |                                                                                                 |
  * | node_name      |      -        | string  | -       |         -             | No          | The ROS2 node name. If absent, the device name will be used   |                                                                                                 |
@@ -95,6 +100,9 @@ class Map2D_nws_ros2 :
     void getMapByNameCallback(const std::shared_ptr<rmw_request_id_t> request_header,
                               const std::shared_ptr<map2d_nws_ros2_msgs::srv::GetMapByName::Request> request,
                               std::shared_ptr<map2d_nws_ros2_msgs::srv::GetMapByName::Response> response);
+    void getLocByNameCallback(const std::shared_ptr<rmw_request_id_t> request_header,
+                              const std::shared_ptr<map2d_nws_ros2_msgs::srv::GetLocationByName::Request> request,
+                              std::shared_ptr<map2d_nws_ros2_msgs::srv::GetLocationByName::Response> response);
     void rosCmdParserCallback(const std::shared_ptr<rmw_request_id_t> request_header,
                          const std::shared_ptr<test_msgs::srv::BasicTypes::Request> request,
                          std::shared_ptr<test_msgs::srv::BasicTypes::Response> response);
@@ -113,18 +121,20 @@ class Map2D_nws_ros2 :
     std::string                  m_rosCmdParserName{"rosCmdParser"};
     std::string                  m_getMapName{"getMap"};
     std::string                  m_getMapByNameName{"getMapByName"};
+    std::string                  m_getLocByNameName{"getLocationByName"};
     std::string                  m_markersName{"locationServerMarkers"};
     std::string                  m_currentMapName{"none"};
     std::string                  m_nodeName;
     bool                         m_spinned{false};
 
-    yarp::os::RpcServer                                                    m_rpcPort;
-    rclcpp::Node::SharedPtr                                                m_node;
-    rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr     m_ros2Publisher_markers{nullptr};
-    rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr             m_ros2Publisher_map{nullptr};
-    rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr                      m_ros2Service_getMap{nullptr};
-    rclcpp::Service<map2d_nws_ros2_msgs::srv::GetMapByName>::SharedPtr     m_ros2Service_getMapByName{nullptr};
-    rclcpp::Service<test_msgs::srv::BasicTypes>::SharedPtr                 m_ros2Service_rosCmdParser{nullptr};
+    yarp::os::RpcServer                                                       m_rpcPort;
+    rclcpp::Node::SharedPtr                                                   m_node;
+    rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr        m_ros2Publisher_markers{nullptr};
+    rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr                m_ros2Publisher_map{nullptr};
+    rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr                         m_ros2Service_getMap{nullptr};
+    rclcpp::Service<map2d_nws_ros2_msgs::srv::GetMapByName>::SharedPtr        m_ros2Service_getMapByName{nullptr};
+    rclcpp::Service<map2d_nws_ros2_msgs::srv::GetLocationByName>::SharedPtr   m_ros2Service_getLocByName{nullptr};
+    rclcpp::Service<test_msgs::srv::BasicTypes>::SharedPtr                    m_ros2Service_rosCmdParser{nullptr};
 };