data {
    format: NOVATEL_BINARY
    tcp {
        address: "192.168.10.4"
        port: 2000
    }
}
 
rtk_from {
    format: RTCM_V3
    ntrip {
        address: "103.45.160.41"
        port: 8003
        mount_point: "AUTO"
        user: "qxzh063194"
        password: "68462"
        timeout_s: 5
    }
    push_location: true
}
 
rtk_to {
    format: NOVATEL_BINARY
    tcp {
        address: "192.168.10.4"
        port: 2002
    }

    is_data_stream: true
}
 
#rtk_solution_type: RTK_SOFTWARE_SOLUTION
rtk_solution_type: RTK_RECEIVER_SOLUTION  
imu_type: G320N
proj4_text: "+proj=utm +zone=50 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"
 
tf {
    frame_id: "world"
    child_frame_id: "novatel"
    enable: true 
}
 
# If given, the driver will send velocity info into novatel one time per second
wheel_parameters: "SETWHEELPARAMETERS 100 1 1\r\n"
 
gpsbin_folder: "/apollo/data/gpsbin"
use_gnss_time: true 
