This is a ros package for converting latitude, longitude and altitude coordinate system to UTM coordinate system (X,Y,Z in meters).

Requirement

GeographicLib (test on version 1.34) https://geographiclib.sourceforge.io/

Download and build

mkdir -p catkin_ws/src
cd catkin_ws/src 
git clone https://github.com/arpg/ROS-UTM-LLA.git
cd ..
catkin_make

Use

open a terminal and run roslaunch

roslaunch utm_lla coordinate_convertion.launch

Specify your UTM zone in the above launch file.
if you want to convert LLA to UTM, publish your message to topic /gps/fix, ros message type sensor_msgs::NavSatFix. If you want to convert UTM to LLA, publish your message to topic /utm/pose, ros message type geometry_msgs::PoseStamped