From 4ccd894da089a18197329a6555842146e67450dc Mon Sep 17 00:00:00 2001
From: howard <howard10121016@gmail.com>
Date: Tue, 10 Dec 2024 22:13:08 +0800
Subject: [PATCH] Change the driver nodes for Garmin 18x GPS

---
 f1eighth_sensor_kit_launch/launch/gnss.launch.xml | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/f1eighth_sensor_kit_launch/launch/gnss.launch.xml b/f1eighth_sensor_kit_launch/launch/gnss.launch.xml
index 6bfeb9a..fb2b190 100644
--- a/f1eighth_sensor_kit_launch/launch/gnss.launch.xml
+++ b/f1eighth_sensor_kit_launch/launch/gnss.launch.xml
@@ -26,7 +26,14 @@
 
     <!-- Garmin GNSS Driver -->
     <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='garmin'&quot;)">
-      <include file="$(find-pkg-share gpsd_client)/launch/gpsd_client-launch.py"/>
+      <!-- <include file="$(find-pkg-share gpsd_client)/launch/gpsd_client-launch.py"/> -->
+      <push-ros-namespace namespace="garmin"/>
+      <node pkg="nmea_reader" exec="nmea_reader" name="nmea_reader">
+        <param name="port" value="/dev/ttyUSB0"/>
+        <param name="baud" value="9600"/>
+      </node>
+      <node pkg="nmea_navsat_driver" exec="nmea_topic_driver" name="nmea_topic_driver">
+      </node>
     </group>
 
     <!-- NavSatFix to MGRS Pose -->