https://github.com/cra-ros-pkg/robot_localization/blob/b47541f18d2d40844edb9997b7a6f3acfa1a5d9f/src/navsat_transform.cpp#L681 robot_odom_pose = gps_odom_pose * gps_offset_rotated.inverse(); T(odom->base) = T(odom->gps) * T(base->gps)-1
