# nmea_topic_serial_reader

*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

Reads NMEA sentences from a serial port and publishes them as ROS messages on a topic. This node is designed to work in tandem with `nmea_topic_driver`, separating the serial reading functionality from the NMEA parsing. This allows for better modularity and the ability to record raw NMEA data.

## Publishers

- **`/nmea_sentence`** ([nmea_msgs/Sentence](http://docs.ros.org/api/nmea_msgs/html/msg/Sentence.html))
  - Raw NMEA sentences read from the serial port

## Parameters

- **`port`** (string, default: "/dev/ttyUSB0")
  - Serial port device path to connect to the GPS receiver

- **`baud`** (int, default: 4800)
  - Baud rate for the serial connection

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

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

## Example

```bash
ros2 run nmea_navsat_driver nmea_topic_serial_reader --ros-args -p port:=/dev/ttyUSB0 -p baud:=9600
```