NMEA Interface Stage

This stage connects to a GPS that produces NMEA updates (over a serial device). It parses the NMEA strings into GPS fix information, and publishes that to the rest of the system.


There is no configuration for this stage at the moment. It is hard-coded to listen on /dev/ttyACM0.


When enough NMEA strings have been received to publish GPS information, a GpsFix message will be published over the /gps_fix channel. This contains lat/long information, along with satellites, time, and other bits of information.

This is typically published at 1Hz, but it depends on the GPS itself.


There are no metrics for this stage.