serial_ntrip_nmea:
  ros__parameters:
    serial_port: "/dev/usb_gps"
    baud_rate: 115200
    ntrip_host: "103.143.19.54"  # 服务IP地址（备用IP: 120.253.239.161）
    ntrip_port: 8002              # 服务端口
    mountpoint: "RTCM33GRCEJpro"     # 接入点
    username: "qxzckj5547"          # CORS账号
    password: "34862"           # CORS密码
    nmea_topic: "navsat/nmea_sentence"
    frame_id: "sentence"