nmea_topic_serial_reader

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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)

  • 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

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