GPS navigation

So this has been a lot harder than I thought.

Got a lead today

The three primary coordinate frames are described here. I haven't looked too deeply, but from a cursory glance at your launch file, this looks fine.

In addition to those frames, when you usenavsat_transform_node, you get a transform (in your case) from map->utm. If you want to issue a goal in the global frame, you need to first convert your lat/lon into UTM coordinates (there's a header in robot_localization that exposes this functionality), and then use the map->_utm _transform to transform that UTM position into your robot's world frame. You can then send that goal to your planner.

I have figured out how to use the emild and the navsat_transform but I never to get the coordinates to transform. I think this is it. Will test when I get my bag files back.