terminate called after throwing an instance of ‘GeographicLib::GeographicErr‘

调试robot_localization，运行navsat_transform_node节点时遇到如下错误，大概意思是GPS的LLA坐标在转换为UTM数据的时候，转换的结果超过了理论范围。

terminate called after throwing an instance of 'GeographicLib::GeographicErr'
  what():  Easting 59208.5km not in UTM range for N hemisphere [0km, 1000km]

原因：

排查了下GPS数据发现是正常的，于是去看了看robot_localization源码。发现有个配置参数use_local_cartesian默认是false。当use_local_cartesian=false时，会将LLA数据转换为UTM格式；当use_local_cartesian=true时，会将LLA数据转换为ENU格式。

解决方法：

很简单了，在相应的launch或yaml文件中将use_local_cartesian参数置为true即可。

<node pkg="robot_localization" type="navsat_transform_node" name="navsat" respawn="true">
        
        <param name="use_local_cartesian" value="true"/>

        <remap from="imu/data" to="imu/data" />
        <remap from="gps/fix" to="fix" /> 
        <remap from="odometry/filtered" to="odometry/navsat" />
    </node>