mapviz - transforming local xy coordinate frame to tile map lat/lon coordinate frame
I am running a tile map plugin for mapviz. As I move my mouse on the map I can see the GPS coordinates changing on the ui interface. I also used the swri_transform_util to give my robot a lat/lon xy origin. Now I am trying to use the point click publisher to get lat/lon coordinates when a place on the map is clicked. I am not sure what the tile map frame is however. I can get my robot's local xy position when I click on the map, but not sure how to transform it to the lat/lon coordinate.