https://discourse.ros.org/t/precise-outdoor-localization-in-open-field/18995?u=rje1974 People with the same problems..
This is the actual state of my project, i was working for two years on this (gbot.ag). The robot moves with remote controller and is fully ros compatible. I start the test of autonomous navigation using an ardusimple GPS-RTk board and bm055 for the heading. I start the test of the rtk over a small robot to test the performance. I'm using the move_base package for navigation.
I tested the rplidar on field and didn't work like in indoor environments.
so for now i'm only use the rtk gps to obtain the position and the bm055 for the heading to create the odometry message with the nav sat package.
https://www.adafruit.com/product/2472
https://www.ardusimple.com/rtk-starter-kits/
https://www.linkedin.com/feed/update/urn:li:activity:6798546427279613952/