serial_ntrip_nmea:
  ros__parameters:
    serial_port: "/dev/ttyUSB0"
    baud_rate: 115200
    ntrip_host: "120.253.226.97"  # 服务IP地址（备用IP: 120.253.239.161）
    ntrip_port: 8001              # 服务端口
    mountpoint: "RTCM33_GRCE"     # 接入点
    username: "cwtm11609"          # CORS账号
    password: "9hemate7"           # CORS密码
    nmea_topic: "navsat/nmea_sentence"
    frame_id: "sentence"