lio-sam/launch/include/module_navsat.launch

<launch>

    <arg name="project" default="lio_sam"/>

    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find lio_sam)/launch/include/rosconsole/rosconsole_error.conf"/>
    
    <!-- EKF GPS-->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_gps" respawn="true">
        <remap from="odometry/filtered" to="odometry/navsat" />
    </node>

    <!-- Navsat -->
    <node pkg="robot_localization" type="navsat_transform_node" name="navsat" respawn="true">
        <!-- <rosparam param="datum">[42.35893211, -71.09345588, 0.0, world, base_link]</rosparam> -->
        <remap from="imu/data" to="imu_correct" />
        <remap from="gps/fix" to="gps/fix" />
        <remap from="odometry/filtered" to="odometry/navsat" />
    </node>

</launch>