#install your ros env before build, test on ros noetic fine

#install rtcm and nmea msgs
sudo apt install ros-noetic-rtcm-msgs
sudo apt install ros-noetic-nmea-msgs

# build ublox driver with unicore ComponentInterface 
cd ~/catkin_ws
catkin_make

#build ntrip client
cd ~/catkin_ntrip_ws
catkin_make

## launch ublox_gps ,open a terminal 

#step1
cd ~/catkin_ws
#step2
source  devel/setup.bash
#step3
roslaunch ublox_gps ublox_device.launch node_name:=ublox param_file_name:=um982_rover

## config your ntrip account,need set your host port user password ...etc
confg file is: 
~/catkin_ntrip_ws/src/ntrip_client/launch/ntrip_client.launch

##launch ntrip client,

step1:
cd ~/catkin_ntrip_ws
step2:
source  devel/setup.bash
step3:
roslaunch ntrip_client ntrip_client.launch


##check the ros topic 

rostopic echo /ublox/fix
rostopic echo /ublox/nmea
rostopic echo /ublox/rxmrtcm
rostopic echo /ublox/rxmraw