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You can fuse all those sources together using a state estimation package like robot_localization or robot_pose_ekf. Depending on your GPS, there will likely be some extra effort required to get its data integrated. Those nodes will generate a odom->base_link transform for you.

However, if you really want to follow the ROS spec (particularly REP-105), you'll need to maintain all three frames (map, odom, and base_link), and only fuse GPS data with the estimate in the map frame. I'm in the process of updating robot_localization to better support this.