I haven't tested the driver with an OEM718D, but I think it should work. Make sure you set the `polling_period` param correctly; I believe the default is `0.05`, but if your GPS is running at 5 Hz, then it should be `0.20`.
Actually, I think there may be a bug that causes the "insufficient data rate" warning to be logged if your GPS produces GPGGA logs at a rate less than 20 Hz, even if your `polling_period` is configured differently. I'll look into that. If it is working properly, you should see it publish `gps_common/GPSFix` messages on the `gps` topic at your expected rate.
As for your other problem, are you sure you sourced ROS's setup.bash in the same terminal you ran `rosecho` in after you installed the packages? I tested it on a fresh Ubuntu 14.04 / ROS Jade system, and running `rosmsg show novatel_gps_msgs/NovatelPosition` worked for me.
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