simple 3DM-GV7-INS launch file when only position is used from external GPS

[JereKnuutinen]

Could some one provide simple ROS2 launch file when using only lat lon alt from the external GPS with 3DM-GV7-INS. I am mainly interested in global estimation. For some reason I am not able to obtain ekf estimates when using example launch file.

[JereKnuutinen]

Even if I launch example "cv7_ins_launch.py" I get [microstrain_inertial_driver_node-1] [WARN] [1746791184.603413099] [microstrain_inertial_driver]: Sensor not in full nav mode yet, waiting to publish relative position... What does that mean?