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What I normally did in solving such a problem is that, I set a fixed known offset value as the origin of /map coordinate frame, instead of using (0,0). I know this might not be an optimal or agile solution, though, but it works in my case.

What I normally did in solving such a problem is that, I set a fixed known offset value as the origin of /map /map coordinate frame, instead of using (0,0). I know this might not be an optimal or agile solution, though, but it works in my case.