229 feature documentation sensor filter debug (#244)

* feat(#229): way less complex and easier to understand

* fix: added unfiltered heading

* feat(#229) changed name and finished file

* feat(#229) only needs better md and viz md and final test

* feat(#229) Cleaned up and made viz better

* feat(#229): final commit

code/perception/launch/perception.launch

@@ -3,15 +3,13 @@
   <arg name="role_name" default="hero" />
   <arg name="control_loop_rate" default="0.1" />
 
-  <!-- just for testing purposes -> Uncomment to use and see plots -->
-  <!-- <node pkg="perception" type="sensor_filter_debug.py" name="sensor_filter_debug" output="screen">
-    <param name="control_loop_rate" value="0.001" />
+  <!-- just for Debugging/ Optimizing purposes -> Uncomment to use and see plots -->
+  <!-- <node pkg="perception" type="position_heading_filter_debug_node.py" name="position_heading_filter_debug_node" output="screen">
+    <param name="control_loop_rate" value="0.05" />
     <param name="role_name" value="$(arg role_name)" />
   </node> -->
-  <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/location_error/data[0] /paf/hero/location_error/data[1]" />
-  <node pkg="rqt_plot" type="rqt_plot" output="screen" name="x_plot" args="/paf/hero/ideal_x/data[0] /paf/hero/ideal_x/data[1]" />
-  <node pkg="rqt_plot" type="rqt_plot" output="screen" name="y_plot" args="/paf/hero/ideal_y/data[0] /paf/hero/ideal_y/data[1]" /-->
-  <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="error_plot" args="/paf/hero/ideal_x/data[2]" /-->
+  <!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/position_debug/data[10] /paf/hero/position_debug/data[13] /paf/hero/position_debug/data[16]"/>-->
+  <!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/heading_debug/data[5] /paf/hero/heading_debug/data[6]" />-->
 
   <node pkg="perception" type="kalman_filter.py" name="kalman_filter_node" output="screen">
     <param name="control_loop_rate" value="0.05" />