How to change origin while loading lanelet2 maps?

asked 2021-07-09 23:24:08 -0500

abkrishna gravatar image

Is there any way to specify the origin of map while using lanelet2_map_loader via launch file or rosrun? My map data produces error as it is mentioned that my longitudes are more that 60d from UTM zone 31. I believe zone 31 is calculated using the default origin. I tried passing my origin value in MGRSProjector object constructor, but it didn't help. When I display lanelet map in rviz, I want to keep /map to /world tf zero. Currently it is a huge value which I adjusted based on the transformed map data using default origin. Any ideas regarding this will be greatly appreciated.

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