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Small typo
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Facundo Garcia committed May 3, 2024
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Expand Up @@ -176,7 +176,7 @@ The output is published on the following:
| `/fixposition/gnss1` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |
| `/fixposition/gnss2` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |

- From **NMEA-GP-GGA_GNSS**, **NMEA-GP-RMC_GNSS**, and **NMEA-GP-ZDA_GNSS**, at the configured frequency (default 5Hz): The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., **only GNSS, not Fusion**) and heading estimate based on speed over ground (**SOG**) and course over ground (**COG**) - (i.e., **the platform must be moving for it to be accurate**) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.**. Warning: This topic will only be populated when the sampling rate of all required NMEA messages is 1 (i.e., the default output frequency of the messages).
- From **NMEA-GP-GGA_GNSS**, **NMEA-GP-RMC_GNSS**, and **NMEA-GP-ZDA_GNSS**, at the configured frequency (default 5Hz): The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., **only GNSS, not Fusion**) and heading estimate based on speed over ground (**SOG**) and course over ground (**COG**) - (i.e., **the platform must be moving for it to be accurate**) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.** Warning: This topic will only be populated when the sampling rate of all required NMEA messages is 1 (i.e., the default output frequency of the messages).

| Topic | Message Type | Frequency | Description |
| -------------------- | ----------------------- | ------------------------------ | ------------------------------ |
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