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I get the GPS/INS position in lat, long, alt, roll, pitch, yaw. Compute the utm odometry using the gps_common package. so I now have the value in meters (x,y,z,roll,pitch,yaw). Then publish a transform using this position. Look at the code below for reference

    void poseCallback(const gps_common::GPSFixConstPtr& msg){


  static tf::TransformBroadcaster br;
  tf::Transform transform;
  double x,y;
  std::string zone;
  gps_common::LLtoUTM(msg->latitude, msg->longitude, northing, easting, zone);

  transform.setOrigin(tf::Vector3( (easting), (northing),  0.0));
  tf::Quaternion q;
  q.setRPY(msg->roll ,msg->pitch, msg->track );
  transform.setRotation(q);
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "vehicle"));

  publish_map_tf(msg);
}

I also publish a static transform between the vehicle and the velodyne frame which is the x,y,z translation and r,p,y rotation between the co-ordinate frame of the GPS/INS and the Laser Sensor. Hope that helps