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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