RTK gps fusion with kiss-icp

[RamanaBotta]

Hello, Dear community!

About:

I have RTK GPS and 3D lidar on my robotic vehicle based of ROS1.

Problem

Due to an unreliable radio connection in RTK GPS unit, I would like to use kiss-icp lidar odometry to compensate for that.

Known possible solutions

1. Using robot_localization package to fuse odometry from GPS and kiss-icp odometry. I am not complete sure on what parameters to be tuned in the robot_localization package.
2. Switching the localization, When RTK is okay I will use RTK odometry, when RTK is lost I will use kiss-icp odometry. and I will always treat RTK as my ground truth so when RTK comes back I reset kiss-icp odometry to RTK odometry.

Help

• I am not completely sure of methods to solve this, Please provide a few hints or thoughts on how to solve it.