What to interpret and how to process the data in general when the values (from gps sensor) for "altitude" field in ROS sensor_msgs/NavSatFix.msg is negative ?
What can be done if "altitude" reading is negative in sensor_msgs/NavSatFix.msg?
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Even at sea level, altitude may be negative: GPS uses a mathematic earth model to estimate the height in mean sea level. This model is usually a simplified EGM96 geoid. The local sea level might be some meter higher or lower.
Just be aware that this is not unusual. Depending what your app Should do, you can display any value < 0 as 0.