This is a ros package for converting latitude, longitude and altitude coordinate system to UTM coordinate system (X,Y,Z in meters).
GeographicLib (test on version 1.34) https://geographiclib.sourceforge.io/
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/arpg/ROS-UTM-LLA.git
cd ..
catkin_make
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