diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2246b4955..49e0467f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,6 +40,7 @@ set(library_name rl_lib)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/FromLL.srv"
+  "srv/FromLLArray.srv"
   "srv/GetState.srv"
   "srv/SetDatum.srv"
   "srv/SetPose.srv"
diff --git a/include/robot_localization/navsat_transform.hpp b/include/robot_localization/navsat_transform.hpp
index c53cd92c7..9074fbefa 100644
--- a/include/robot_localization/navsat_transform.hpp
+++ b/include/robot_localization/navsat_transform.hpp
@@ -36,10 +36,13 @@
 #include <robot_localization/srv/set_datum.hpp>
 #include <robot_localization/srv/to_ll.hpp>
 #include <robot_localization/srv/from_ll.hpp>
+#include <robot_localization/srv/from_ll_array.hpp>
 
 #include <Eigen/Dense>
 #include <GeographicLib/Geocentric.hpp>
 #include <GeographicLib/LocalCartesian.hpp>
+#include <geographic_msgs/msg/geo_point.hpp>
+#include <geometry_msgs/msg/point.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
@@ -50,6 +53,7 @@
 #include <tf2_ros/transform_listener.h>
 
 #include <memory>
+#include <stdexcept>
 #include <string>
 
 namespace robot_localization
@@ -99,6 +103,16 @@ class NavSatTransform : public rclcpp::Node
     const std::shared_ptr<robot_localization::srv::FromLL::Request> request,
     std::shared_ptr<robot_localization::srv::FromLL::Response> response);
 
+  //! @brief Callback for the from Lat Long Array service
+  //!
+  bool fromLLArrayCallback(
+    const std::shared_ptr<robot_localization::srv::FromLLArray::Request> request,
+    std::shared_ptr<robot_localization::srv::FromLLArray::Response> response);
+
+  //! @brief Method for convert point from Lat Lon to the map coordinates system
+  //!
+  geometry_msgs::msg::Point fromLL(const geographic_msgs::msg::GeoPoint & geo_point);
+
   /**
    * @brief Given the pose of the navsat sensor in the Cartesian frame, removes the
    * offset from the vehicle's centroid and returns the Cartesian-frame pose of said
@@ -211,6 +225,11 @@ class NavSatTransform : public rclcpp::Node
    */
   rclcpp::Service<robot_localization::srv::FromLL>::SharedPtr from_ll_srv_;
 
+  /**
+   * @brief Service for from Lat Long Array
+   */
+  rclcpp::Service<robot_localization::srv::FromLLArray>::SharedPtr from_ll_array_srv_;
+
   /**
    * @brief Navsatfix publisher
    */
diff --git a/src/navsat_transform.cpp b/src/navsat_transform.cpp
index d9bdef80b..945144c2f 100644
--- a/src/navsat_transform.cpp
+++ b/src/navsat_transform.cpp
@@ -142,7 +142,8 @@ NavSatTransform::NavSatTransform(const rclcpp::NodeOptions & options)
     "toLL", std::bind(&NavSatTransform::toLLCallback, this, _1, _2));
   from_ll_srv_ = this->create_service<robot_localization::srv::FromLL>(
     "fromLL", std::bind(&NavSatTransform::fromLLCallback, this, _1, _2));
-
+  from_ll_array_srv_ = this->create_service<robot_localization::srv::FromLLArray>(
+    "fromLLArray", std::bind(&NavSatTransform::fromLLArrayCallback, this, _1, _2));
   std::vector<double> datum_vals;
   if (use_manual_datum_) {
     datum_vals = this->declare_parameter("datum", datum_vals);
@@ -407,9 +408,38 @@ bool NavSatTransform::fromLLCallback(
   const std::shared_ptr<robot_localization::srv::FromLL::Request> request,
   std::shared_ptr<robot_localization::srv::FromLL::Response> response)
 {
-  double altitude = request->ll_point.altitude;
-  double longitude = request->ll_point.longitude;
-  double latitude = request->ll_point.latitude;
+  try {
+    response->map_point = fromLL(request->ll_point);
+  }
+  catch(const std::runtime_error& e) {
+    return false;
+  }
+
+  return true;
+}
+
+bool NavSatTransform::fromLLArrayCallback(
+  const std::shared_ptr<robot_localization::srv::FromLLArray::Request> request,
+  std::shared_ptr<robot_localization::srv::FromLLArray::Response> response)
+{
+  for (auto it = request->ll_points.begin(); it != request->ll_points.end(); ++it) {
+    try {
+      response->map_points.push_back(fromLL(*it));
+    }
+    catch(const std::runtime_error& e) {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+geometry_msgs::msg::Point NavSatTransform::fromLL(
+  const geographic_msgs::msg::GeoPoint& geo_point)
+{
+  double altitude = geo_point.altitude;
+  double longitude = geo_point.longitude;
+  double latitude = geo_point.latitude;
 
   tf2::Transform cartesian_pose;
 
@@ -437,15 +467,11 @@ bool NavSatTransform::fromLLCallback(
 
   cartesian_pose.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, altitude));
 
-  nav_msgs::msg::Odometry gps_odom;
-
   if (!transform_good_) {
-    return false;
+    throw std::runtime_error("Invalid transform.");
   }
 
-  response->map_point = cartesianToMap(cartesian_pose).pose.pose.position;
-
-  return true;
+  return cartesianToMap(cartesian_pose).pose.pose.position;
 }
 
 nav_msgs::msg::Odometry NavSatTransform::cartesianToMap(
@@ -485,14 +511,24 @@ void NavSatTransform::mapToLL(
 
   odom_as_cartesian.mult(cartesian_world_trans_inverse_, pose);
   odom_as_cartesian.setRotation(tf2::Quaternion::getIdentity());
-
-  // Now convert the data back to lat/long and place into the message
-  navsat_conversions::UTMtoLL(
-    odom_as_cartesian.getOrigin().getY(),
-    odom_as_cartesian.getOrigin().getX(),
-    utm_zone_,
-    latitude,
-    longitude);
+  if (use_local_cartesian_) {
+    gps_local_cartesian_.Reverse(
+      odom_as_cartesian.getOrigin().getX(),
+      odom_as_cartesian.getOrigin().getY(),
+      odom_as_cartesian.getOrigin().getZ(),
+      latitude,
+      longitude,
+      altitude
+    );
+  } else {
+    // Now convert the data back to lat/long and place into the message
+    navsat_conversions::UTMtoLL(
+      odom_as_cartesian.getOrigin().getY(),
+      odom_as_cartesian.getOrigin().getX(),
+      utm_zone_,
+      latitude,
+      longitude);
+  }
   altitude = odom_as_cartesian.getOrigin().getZ();
 }
 
diff --git a/srv/FromLLArray.srv b/srv/FromLLArray.srv
new file mode 100644
index 000000000..4a727e0b2
--- /dev/null
+++ b/srv/FromLLArray.srv
@@ -0,0 +1,3 @@
+geographic_msgs/GeoPoint[] ll_points
+---
+geometry_msgs/Point[] map_points