Georeferencing map coordinates
I was wondering how ROS handles georeferencing of map coordinates. My robot currently sets its position when it starts up as position 0.0. However this doesn't give any information about where I am in on earth.
How do I convert map coordinates to GPS coordinates and back again? That is, how do typical ROS-powered robots do it? TF doesn't seem suitable for this because converting GPS to map coordinates isn't as simple as a matrix transformation, if I understand correctly.
I'm also trying to figure out how to do this with map_server. As I understand, the map_server is initialized with a yaml file containing map coordinates of the underlying map. However, my robot could start up at any point on earth, so the yaml file would always be incorrect, if I set it to a particular map coordinate. How can I set up the map_server based on a GPS coordinate, rather than a map coordinate?
