Visualize the GNSS messages by RVIZ plugin, ROS

The team recorded the GNSS messages with <a href="http://wiki.ros.org/novatel_span_driver" rel="noopener ugc nofollow" target="_blank">novatel_span_driver</a> which format is <a href="http://docs.ros.org/jade/api/novatel_msgs/html/msg/INSPVAX.html" rel="noopener ugc nofollow" target="_blank">novatel_msgs/INSPVAX</a>. But rviz_satellite only support <a href="http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html" rel="noopener ugc nofollow" target="_blank">sensor_msgs/NavSatFix</a> Don’t worry, the wiki of <a href="http://wiki.ros.org/novatel_span_driver" rel="noopener ugc nofollow" target="_blank">novatel_span_driver</a> told they will transform the data into <a href="http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html" rel="noopener ugc nofollow" target="_blank">sensor_msgs/NavSatFix</a> and then republish them. In this case, We can use the /navsat/fix topic directly. <a href="https://link.zhihu.com/?target=http%3A%2F%2Fdocs.ros.org%2Fapi%2Fnovatel_span_driver%2Fhtml%2Fclassnovatel__span__driver_1_1publisher_1_1NovatelPublisher.html" rel="noopener ugc nofollow" target="_blank">NovatelPublisher</a> class, which subscribes to those NovAtel-specific messages, and republishes them as standard ROS messages like <a href="http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html" rel="noopener ugc nofollow" target="_blank">sensor_msgs/NavSatFix</a> and <a href="https://link.zhihu.com/?target=http%3A%2F%2Fdocs.ros.org%2Fapi%2Fnav_msgs%2Fhtml%2Fmsg%2FOdometry.html" rel="noopener ugc nofollow" target="_blank">nav_msgs/Odometry</a>. <a href="https://medium.com/@hitlx916/visualize-the-gnss-messages-by-rviz-plugin-ros-42a2f0675939">Read More</a>