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。