The team recorded the GNSS messages with novatel_span_driver which format is novatel_msgs/INSPVAX. But rviz_satellite only support sensor_msgs/NavSatFix
Don’t worry, the wiki of novatel_span_driver told they will transform the data into sensor_msgs/NavSatFix and then republish them. In this case, We can use the /navsat/fix topic directly.
NovatelPublisher class, which subscribes to those NovAtel-specific messages, and republishes them as standard ROS messages like sensor_msgs/NavSatFix and nav_msgs/Odometry.