This is an awesome project! 
For the UTM conversions, have you taken a look at http://wiki.ros.org/geodesy? 

Usage is as simple as

    from geodesy import utm
    lat, lon = 51.47875, 5.43995
    utm_coord = utm.fromLatLong(lat, lon, 0)  # Elevation 0 is fine for NL
    utm_coord.toPoint()  # out comes a ROS geometry_msgs.Point in the UTM frame






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