I check if nmea_topic_driver was subscribed to the NMEA messages properly, and it looks fine:
rostopic echo /nmea_sentence
header:
seq: 0
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPRMC,152545.80,A,3301.9913392,S,06053.0775644,W,0.12,0.00,261217,0.0,E,D*3F\r\n"
---
header:
seq: 1
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPGGA,152545.80,3301.9913392,S,06053.0775644,W,5,09,1.0,52.356,M,17.442,M,0.2,*72\r\
\n"
---
header:
seq: 2
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPGSA,A,3,02,12,24,25,29,,,,,,,,12.0,1.7,11.8,1*29\r\n"
---
header:
seq: 3
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GLGSA,A,3,75,76,86,87,,,,,,,,,43.1,15.6,40.1,2*03\r\n"
---
header:
seq: 4
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPGSV,2,1,05,02,52,107,35,12,61,145,38,24,49,007,37,25,48,217,36,1*6A\r\n"
---
header:
seq: 5
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPGSV,2,2,05,29,47,283,41,,,,,,,,,,,,,1*55\r\n"
---
header:
seq: 6
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GLGSV,1,1,04,75,42,053,37,76,75,160,36,86,72,178,39,87,41,315,35,1*7F\r\n"
---
header:
seq: 7
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPGST,152545.80,0.090,,,,0.081,0.061,0.194*78\r\n"
---
header:
seq: 8
stamp:
secs: 1514301945
nsecs: 488000000
frame_id: "GPS-RTK"
sentence: "$GPVTG,0.00,T,0.00,M,0.12,N,0.06,K,A*26\r\n"
---
rosnode info /nmea_topic_driver
Node [/nmea_topic_driver]
Publications:
* /fix [sensor_msgs/NavSatFix]
* /rosout [rosgraph_msgs/Log]
* /time_reference [sensor_msgs/TimeReference]
* /vel [geometry_msgs/TwistStamped]
Subscriptions:
* /clock [rosgraph_msgs/Clock]
* /nmea_sentence [nmea_msgs/Sentence]
Services:
* /nmea_topic_driver/get_loggers
* /nmea_topic_driver/set_logger_level
contacting node http://MS-7A15:34339/ ...
Pid: 28973
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /nmea_sentence
* to: /play_1516817666576416404 (http://MS-7A15:38155/)
* direction: inbound
* transport: TCPROS
* topic: /clock
* to: /play_1516817666576416404 (http://MS-7A15:38155/)
* direction: inbound
* transport: TCPROS