ROBOT (name:raven)
-----------
<launch>

<node pkg="gpsd_client" type="gpsd_client" name="raven_gpsd_client">
<param name="host" value="raven" type="string"/>
<param name="port" value="2947" type="int"/>
</node>

<node pkg="gps_common" type="utm_odometry_node" name="raven_gps_dom">
<param name="~rot_covariance" value="9999" type="double"/>
<param name="~frame_id" value="odom" type="string"/>
<remap from="odom" to="raven_gps_odom" />
</node>

</launch>

LAPTOP (name:uav)
---------
<launch>
<node pkg="gpsd_client" type="gpsd_client" name="laptop_gpsd_client">
<param name="host" value="uav" type="string"/>
<param name="port" value="2947" type="int"/>
</node>
<node pkg="gps_common" type="utm_odometry_node" name="laptop_gps_odom">
<param name="~rot_covariance" value="9999" type="double"/>
<param name="~frame_id" value="odom" type="string"/>
<remap from="odom" to="laptop_gps_odom" />
</node>

</launch>