1.  Install the NMEA GPS driver package by using the following command:

$ sudo apt-get install ros-kinetic-nmea-gps-driver
$ rosstack profile & rospack profile

2. Download the package from the repository and build the package from the source:

$ cd ~/catkin_ws/src
$ git clone git https://github.com/ros-drivers/nmea_navsat_driver.git
$ cd ..
$ catkin_make

3. To execute the GPS driver, we will run the nmea_gpst_driver.py script, which requires two arguments: the port name that is connected to the GPS, and the baud-rate.

$ sudo chmod 666 /dev/ttyUSB0
$ rosrun nmea_gps_driver nmea_gps_driver.py _port:=/dev/ttyUSB0 _baud:=9600