Can not publish RXM message for zed_f9p

[didididida]

Hello, My device is zed_f9p and the yaml file is below

`debug: 1

device: /dev/ttyACM0 frame_id: gps raw_data: true

uart1: baudrate: 38400 clear_bbr: true config_on_startup: false rate: 4 nav_rate: 1

fix_mode: auto gnss: gps: true beidou: true galileo: true

inf: all: true subscribe: all: true publish: all: true esf: true rxm: all: true`

but when I execute it, there are some problems like

EROOR: U-blox: received NACK: 0x06 / 0x01 and then topics about RXM are not published.

Thanks

[Rand0409]

some configuration commands in this ros node are not compatible for protocal version>=27.01, and F9P is using at least 27.01, the command you sent to the F9P is not recognized so it returned back a NACK, check the VALSET VALGET VALDEL commands in your F9P interface manual and compare with this rospackage.

[patripfr]

I fixed it by modifying the UbloxFirmware8::subscribe() as here.