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Not sure why the links in the wiki are not longer working, I found the tutorials under this link for now:

http://library.isr.ist.utl.pt/docs/roswiki/gpsd_client(2f)Tutorials(2f)Writing(20)a(20)Subscriber(20)for(20)gpsd_client(2028)C(2b2b29).html

I also created an issue as well in the repo, hopefully it gets corrected soon: https://github.com/swri-robotics/gps_umd/issues/52

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