This script transports NMEA messages from a u-blox module to a Velodyne LiDAR.

ubx2velodyne.py

import socket
from pyubx2 import UBXReader
from pynmeagps.nmeamessage import NMEAMessage

st_ubx = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
st_ubx.connect(("localhost", 2001)) # RTKLIB's strsvr or something

st_vel = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

ubr = UBXReader(st_ubx, protfilter=7)

for (raw_data, parsed_data) in ubr.iterate():
  if type(parsed_data) == NMEAMessage:
    if parsed_data.msgID == 'RMC':
      if parsed_data.time.microsecond == 0:
        print(parsed_data)
        st_vel.sendto(raw_data, ('192.168.1.201', 10110))

Set the default NMEA message prefix to $GP .