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Hi— unfortunately, gps_common is pretty out of date. The GPS driver functionality has been taken over by nmea_navsat_driver, which will publish a NavSatFix msg. You can feed that into the enu_from_fix node to obtain Odometry, which is the input to robot_pose_ekf.

Outdoor navigation can be a bit tricky to set up in ROS. We (Clearpath) are hoping to publish a getting started article on it in the next little while.

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