I decided to use RMC messages from the GPS so that I can get velocity data.  There's lots more information that I need, though.  For example, I'll want to check on the (RTCM) corrections, and I must stop if I ever lose an RTK solution.  I also need to push raw sentences over Ethernet to my planter monitor.

To handle this, I configured one node to listen to the GPS and another to interpret the messages.  Here's my launch file:

    <launch>
	<node name="gps" pkg="nmea_navsat_driver" type="nmea_topic_serial_reader">
		<param name="port" value="/dev/gps_nmea" />
		<param name="baud" value="115200" />
	</node>

	<node name="nmea" pkg="nmea_navsat_driver" type="nmea_topic_driver">
		<param name="useRMC" value="True" />
	</node>
    </launch>

Now, in addition to /fix and /vel, I get raw output on /nmea_sentence.






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