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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 use navsat_transform_node, you get a transform (in your case) from utm->map. 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 utm->map transform to transform that UTM position into your robot's world frame. You can then send that goal to your planner.

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 use navsat_transform_node, you get a transform (in your case) from utmmap->maputm. 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 utmmap->maputm transform to transform that UTM position into your robot's world frame. You can then send that goal to your planner.