ROS GNSS设备驱动，支持串口和TCP Client数据传输方式

ros_nmea_driver: 解析GNSS消息的 ros 驱动，支持标准nmea0183 定位定向数据解析，支持 串口/网口 数据传输方式。

ros官方的nmea驱动不支持网口，且存在其他问题，所以自己写了一个，编译使用参考readme，支持GGA TRA定位定向报文解析，注意定向不固定的时候，不往外发送topic，部分topic echo 如下：

--------------------------------------------------------------------------------header: 
  seq: 4343
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
sentence: "$GPGGA,021131.00,3944.55287691,N,11619.33517748,E,1,18,2.3,73.3385,M,-9.1750,M,,*45\r\
  \n"
---
header: 
  seq: 4344
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
sentence: "$GPRMC,021131.00,A,3944.55287691,N,11619.33517748,E,0.009,2.6,040122,6.8,W,A*2E\r\
  \n"
---
header: 
  seq: 4345
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
sentence: "$GNVTG,2.598,T,9.446,M,0.00902,N,0.01671,K,A*3E\r\n"
---
header: 
  seq: 4346
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
sentence: "$GPTRA,021131.00,0.00,0.00,0.00,0,00,0.00,0000*4E\r\n"
---
header: 
  seq: 4347
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
sentence: "#HEADINGA,COM3,0,57.0,FINE,2191,180709.000,44398382,25,18;INSUFFICIENT_OBS,NONE,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,\"\
  \",0,0,0,0,0,00,0,0*bcdcf4bf\r\n"

---------------------------------------------------------------------------------------------------------------------------

---
header: 
  seq: 1397
  stamp: 
    secs: 1641262290
    nsecs: 928659116
  frame_id: "gnss_link"
status: 
  status: 0
  service: 0
latitude: 39.7425484785
longitude: 116.32225289
altitude: 73.3525
position_covariance: [2.6449999999999996, 0.0, 0.0, 0.0, 2.6449999999999996, 0.0, 0.0, 0.0, 2.6449999999999996]
position_covariance_type: 18
---