# nmea_tcpclient_driver

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Node Description

Connects to a GPS device or NMEA server via TCP client and receives NMEA sentences, then publishes GPS fix, velocity, heading, and time reference information. This node actively connects to a remote TCP server.

## Publishers

- **`/fix`** ([sensor_msgs/NavSatFix](http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html))
  - GPS position fix including latitude, longitude, altitude, and covariance information

- **`/vel`** ([geometry_msgs/TwistStamped](http://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html))
  - Velocity information derived from NMEA sentences (VTG or RMC)

- **`/heading`** ([geometry_msgs/QuaternionStamped](http://docs.ros.org/api/geometry_msgs/html/msg/QuaternionStamped.html))
  - Heading information as a quaternion (from HDT sentences)

- **`/time_reference`** ([sensor_msgs/TimeReference](http://docs.ros.org/api/sensor_msgs/html/msg/TimeReference.html))
  - GPS time reference (only published when `use_GNSS_time` is false)

## Parameters

- **`ip`** (string, default: "192.168.131.22")
  - IP address of the GNSS sensor or TCP server to connect to

- **`port`** (int, default: 9001)
  - TCP port of the GNSS sensor or TCP server

- **`buffer_size`** (int, default: 4096)
  - Size of the receive buffer in bytes

- **`frame_id`** (string, default: "gps")
  - Frame ID for the published messages

- **`tf_prefix`** (string, default: "")
  - TF prefix to be added to the frame_id

- **`time_ref_source`** (string, default: "gps")
  - Source identifier for time reference messages

- **`useRMC`** (bool, default: false)
  - Use RMC sentences for position instead of GGA sentences

- **`use_GNSS_time`** (bool, default: false)
  - Use GNSS time from the receiver instead of system time for message timestamps

- **`epe_quality0`** (float, default: 1000000.0)
  - Estimated Position Error for quality indicator 0 (no fix)

- **`epe_quality1`** (float, default: 4.0)
  - Estimated Position Error for quality indicator 1 (SPS)

- **`epe_quality2`** (float, default: 0.1)
  - Estimated Position Error for quality indicator 2 (DGPS)

- **`epe_quality4`** (float, default: 0.02)
  - Estimated Position Error for quality indicator 4 (RTK Fix)

- **`epe_quality5`** (float, default: 4.0)
  - Estimated Position Error for quality indicator 5 (RTK Float)

- **`epe_quality9`** (float, default: 3.0)
  - Estimated Position Error for quality indicator 9 (WAAS)

## Example

```bash
ros2 run nmea_navsat_driver nmea_tcpclient_driver --ros-args -p ip:=192.168.1.100 -p port:=9001
```