diff --git a/CMakeLists.txt b/CMakeLists.txt
index 038a43136c..0088cc8008 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,6 +137,7 @@ find_package(catkin REQUIRED
   std_srvs
   tf2_ros
   tf2_geometry_msgs
+  tf2_eigen
   urdf
   visualization_msgs
 )
diff --git a/package.xml b/package.xml
index 94d18b721a..792ee0b438 100644
--- a/package.xml
+++ b/package.xml
@@ -53,6 +53,7 @@
   <depend>std_srvs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_eigen</depend>
   <depend>tinyxml2</depend>
   <depend>urdf</depend>
   <depend>visualization_msgs</depend>
diff --git a/src/rviz/default_plugin/odometry_display.cpp b/src/rviz/default_plugin/odometry_display.cpp
index 6fb6fac3e9..f339326b2f 100644
--- a/src/rviz/default_plugin/odometry_display.cpp
+++ b/src/rviz/default_plugin/odometry_display.cpp
@@ -27,12 +27,15 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <tf2_eigen/tf2_eigen.h>
+
 #include <rviz/ogre_helpers/arrow.h>
 #include <rviz/ogre_helpers/axes.h>
 #include <rviz/properties/enum_property.h>
 #include <rviz/properties/color_property.h>
 #include <rviz/properties/float_property.h>
 #include <rviz/properties/int_property.h>
+#include <rviz/properties/bool_property.h>
 #include <rviz/validate_floats.h>
 #include <rviz/validate_quaternions.h>
 
@@ -47,6 +50,12 @@ namespace rviz
 {
 OdometryDisplay::OdometryDisplay()
 {
+  continuous_transform_property_ =
+      new BoolProperty("Continuous Transform", false,
+                       "Retransform into fixed frame every timestep. This is particularly useful for "
+                       "messages whose frame moves w.r.t. fixed frame.",
+                       this);
+
   position_tolerance_property_ = new FloatProperty("Position Tolerance", .1,
                                                    "Distance, in meters from the last arrow dropped, "
                                                    "that will cause a new arrow to drop.",
@@ -153,6 +162,10 @@ void OdometryDisplay::clear()
   {
     last_used_message_.reset();
   }
+  if (ref_pose_)
+  {
+    ref_pose_.reset();
+  }
 }
 
 void OdometryDisplay::updateColorAndAlpha()
@@ -278,21 +291,16 @@ void OdometryDisplay::processMessage(const nav_msgs::Odometry::ConstPtr& message
 
   if (last_used_message_)
   {
-    Ogre::Vector3 last_position(last_used_message_->pose.pose.position.x,
-                                last_used_message_->pose.pose.position.y,
-                                last_used_message_->pose.pose.position.z);
-    Ogre::Vector3 current_position(message->pose.pose.position.x, message->pose.pose.position.y,
-                                   message->pose.pose.position.z);
-    Eigen::Quaternionf last_orientation(last_used_message_->pose.pose.orientation.w,
-                                        last_used_message_->pose.pose.orientation.x,
-                                        last_used_message_->pose.pose.orientation.y,
-                                        last_used_message_->pose.pose.orientation.z);
-    Eigen::Quaternionf current_orientation(message->pose.pose.orientation.w,
-                                           message->pose.pose.orientation.x,
-                                           message->pose.pose.orientation.y,
-                                           message->pose.pose.orientation.z);
-
-    if ((last_position - current_position).length() < position_tolerance_property_->getFloat() &&
+    // use double precision in case the positions are very large, like for example with UTM coords
+    Eigen::Vector3d last_position, current_position;
+    Eigen::Quaterniond last_orientation, current_orientation;
+
+    tf2::fromMsg(message->pose.pose.position, current_position);
+    tf2::fromMsg(message->pose.pose.orientation, current_orientation);
+    tf2::fromMsg(last_used_message_->pose.pose.position, last_position);
+    tf2::fromMsg(last_used_message_->pose.pose.orientation, last_orientation);
+
+    if ((last_position - current_position).norm() < position_tolerance_property_->getFloat() &&
         last_orientation.angularDistance(current_orientation) < angle_tolerance_property_->getFloat())
     {
       return;
@@ -301,14 +309,37 @@ void OdometryDisplay::processMessage(const nav_msgs::Odometry::ConstPtr& message
 
   Ogre::Vector3 position;
   Ogre::Quaternion orientation;
-  if (!context_->getFrameManager()->transform(message->header, message->pose.pose, position, orientation))
+  if (!continuous_transform_property_->getBool())
   {
-    ROS_ERROR("Error transforming odometry '%s' from frame '%s' to frame '%s'", qPrintable(getName()),
-              message->header.frame_id.c_str(), qPrintable(fixed_frame_));
-    return;
+    if (!context_->getFrameManager()->transform(message->header, message->pose.pose, position,
+                                                orientation))
+    {
+      ROS_ERROR("Error transforming odometry '%s' from frame '%s' to frame '%s'", qPrintable(getName()),
+                message->header.frame_id.c_str(), qPrintable(fixed_frame_));
+      return;
+    }
+
+    // If we arrive here, we're good. Continue...
   }
+  else
+  {
+    // put the visuals at the pose specified by the message and transform their scene node continuously
 
-  // If we arrive here, we're good. Continue...
+    // Use ref pose for very large transforms where float (default in OGRE) has not enough precision.
+    // Such large transforms can occur when converting GPS coordinates to a euclidean coordinate system,
+    // e.g. UTM. The ref pose is set to the position of the first incoming odometry message and is axis
+    // aligned to the parent frame of the odometry message.
+    if (!ref_pose_)
+    {
+      ref_pose_.reset(new geometry_msgs::Pose());
+      ref_pose_->position = message->pose.pose.position;
+    }
+
+    const geometry_msgs::Pose& p = message->pose.pose;
+    position = Ogre::Vector3(p.position.x - ref_pose_->position.x, p.position.y - ref_pose_->position.y,
+                             p.position.z - ref_pose_->position.z);
+    orientation = Ogre::Quaternion(p.orientation.w, p.orientation.x, p.orientation.y, p.orientation.z);
+  }
 
   // Create a scene node, and attach the arrow and the covariance to it
   Axes* axes = new Axes(scene_manager_, scene_node_, axes_length_property_->getFloat(),
@@ -372,6 +403,22 @@ void OdometryDisplay::update(float /*wall_dt*/, float /*ros_dt*/)
 
   assert(arrows_.size() == axes_.size());
   assert(axes_.size() == covariance_property_->sizeVisual());
+
+  // continuously set the scene node's position to ref pose
+  if (!continuous_transform_property_->getBool() || !last_used_message_ || !ref_pose_)
+    return;
+
+  Ogre::Vector3 position;
+  Ogre::Quaternion orientation;
+  if (!context_->getFrameManager()->transform(last_used_message_->header.frame_id, ros::Time(),
+                                              *ref_pose_, position, orientation))
+  {
+    // the error output with setStatus is already generated by MessageFilterDisplay
+    return;
+  }
+
+  scene_node_->setPosition(position);
+  scene_node_->setOrientation(orientation);
 }
 
 void OdometryDisplay::reset()
diff --git a/src/rviz/default_plugin/odometry_display.h b/src/rviz/default_plugin/odometry_display.h
index e1bf86f98f..731b2130af 100644
--- a/src/rviz/default_plugin/odometry_display.h
+++ b/src/rviz/default_plugin/odometry_display.h
@@ -51,6 +51,7 @@ class ColorProperty;
 class FloatProperty;
 class IntProperty;
 class EnumProperty;
+class BoolProperty;
 
 class CovarianceProperty;
 
@@ -102,6 +103,9 @@ private Q_SLOTS:
   D_Axes axes_;
 
   nav_msgs::Odometry::ConstPtr last_used_message_;
+  geometry_msgs::Pose::Ptr ref_pose_;
+
+  rviz::BoolProperty* continuous_transform_property_;
 
   rviz::EnumProperty* shape_property_;
 
diff --git a/src/test/odometry.py b/src/test/odometry.py
new file mode 100644
index 0000000000..04ec0d4758
--- /dev/null
+++ b/src/test/odometry.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python
+
+import math
+import time
+
+import rospy
+from geometry_msgs.msg import TransformStamped
+from visualization_msgs.msg import Marker
+from nav_msgs.msg import Odometry
+from tf.transformations import quaternion_from_euler
+from tf2_ros.transform_broadcaster import TransformBroadcaster
+
+RATE = 30
+
+
+def odom_to_tf(odom_msg):
+    tf = TransformStamped()
+    tf.header = odom_msg.header
+    tf.child_frame_id = odom_msg.child_frame_id
+    tf.transform.translation = odom_msg.pose.pose.position
+    tf.transform.rotation = odom_msg.pose.pose.orientation
+    tf_broadcaster.sendTransform(tf)
+
+
+def draw_eight(elapsed_time, full_cycle_duration=10, scale=10):
+    # lemniscate of Gerono
+    progress = (elapsed_time % full_cycle_duration) / full_cycle_duration
+    t = -0.5 * math.pi + progress * (2 * math.pi)
+    x = math.cos(t) * scale
+    y = math.sin(t) * math.cos(t) * scale
+    dx_dt = -math.sin(t)
+    dy_dt = math.cos(t) * math.cos(t) - math.sin(t) * math.sin(t)
+    yaw = math.atan2(dy_dt, dx_dt)
+    return x, y, yaw
+
+
+def display_dummy_robot(stamp):
+    marker = Marker()
+    marker.header.frame_id = "base_link"
+    marker.header.stamp = stamp
+    marker.ns = "robot"
+    marker.id = 0
+    marker.type = Marker.CUBE
+    marker.action = Marker.ADD
+    marker.pose.position.x = 0
+    marker.pose.position.y = 0
+    marker.pose.position.z = 0
+    marker.pose.orientation.x = 0.0
+    marker.pose.orientation.y = 0.0
+    marker.pose.orientation.z = 0.0
+    marker.pose.orientation.w = 1.0
+    marker.scale.x = 1
+    marker.scale.y = 1
+    marker.scale.z = 1
+    marker.color.a = 1.0
+    marker.color.r = 0.0
+    marker.color.g = 1.0
+    marker.color.b = 0.0
+    vis_pub.publish(marker)
+
+
+rospy.init_node("odometry_test", anonymous=True)
+
+tf_broadcaster = TransformBroadcaster()
+
+odom_pub = rospy.Publisher("robot/odom", Odometry, queue_size=5)
+vis_pub = rospy.Publisher("robot/marker", Marker, queue_size=5)
+
+time.sleep(1)
+
+rate = rospy.Rate(RATE)
+start = rospy.Time.now()
+while not rospy.is_shutdown():
+    now = rospy.Time.now()
+
+    robot_x, robot_y, robot_yaw = draw_eight((now - start).to_sec())
+    q = quaternion_from_euler(0, 0, robot_yaw)
+
+    odom_robot = Odometry()
+    odom_robot.header.stamp = now
+    odom_robot.header.frame_id = "world"
+    odom_robot.child_frame_id = "base_link"
+    odom_robot.pose.pose.position.x = robot_x
+    odom_robot.pose.pose.position.y = robot_y
+    odom_robot.pose.pose.orientation.x = q[0]
+    odom_robot.pose.pose.orientation.y = q[1]
+    odom_robot.pose.pose.orientation.z = q[2]
+    odom_robot.pose.pose.orientation.w = q[3]
+
+    odom_to_tf(odom_robot)
+
+    odom_pub.publish(odom_robot)
+
+    display_dummy_robot(now)
+
+    rate.sleep()
diff --git a/src/test/odometry.rviz b/src/test/odometry.rviz
new file mode 100755
index 0000000000..9691a59af4
--- /dev/null
+++ b/src/test/odometry.rviz
@@ -0,0 +1,165 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Odometry1
+        - /Odometry1/Shape1
+      Splitter Ratio: 0.6264705657958984
+    Tree Height: 818
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.5
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 52
+      Name: Odometry
+      Position Tolerance: 1
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 0.20000000298023224
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /robot/odom
+      Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /robot/marker
+      Name: Marker
+      Namespaces:
+        robot: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 20.20941925048828
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 1.479522943496704
+        Y: 0.4954601228237152
+        Z: -1.4441502094268799
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7553982138633728
+      Target Frame: <Fixed Frame>
+      Yaw: 0.8353981971740723
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1115
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003bdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003bd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003bd000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007760000003efc0100000002fb0000000800540069006d00650100000000000007760000025600fffffffb0000000800540069006d0065010000000000000450000000000000000000000505000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1910
+  X: 0
+  Y: 25