ODOMETRY FROM RTK + LIO SAM

[antoniomontana1992]

Hi i am trying to import the odometry msg from my Fixposition RTK2 to Lio SAM to improve the results of the algorithm in outdoor conditions. As you ve already introduced this is something that ve already been done through navsat node. In this case i want to import this ready to go fused msg. This is the tf tree of LIO SAM and Fixposition side by side (attached file). My gps odometry 's link is the FP_VRTK, do i have to connect base_link with FP_VRTK. I can understand that if i do something like this i will destory me sensor's previous tree formation ( 2 parent links). Will LIO SAM has issues with that. Does Lio SAM cares about the TF-TREE connection for GPS or cares about the incoming data?
frames_2024-12-08_12.52.47.pdf

[antoniomontana1992]

I make my question more clear with files attached. Here i attach the FP_ENU0 frame with map with a static transform.
static transform : FP_ENU0 (frame with respect to ENU) to map

In the launch file i ve enable gps and i have as odometry topic the odometry which my sensor produces ( parent link : FP_ENUO, child link FP_VRTK)

I ve also introduced a static transform from map->odom

The question is if this setup make sense.
frames_2024-12-11_16.18.47.pdf