diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch
index 555b8bda..82c7e56c 100644
--- a/code/perception/launch/perception.launch
+++ b/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" />
diff --git a/code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MAE_Boxed.png b/code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_MAE_Boxed.png
similarity index 100%
rename from code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MAE_Boxed.png
rename to code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_MAE_Boxed.png
diff --git a/code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MSE_Boxed.png b/code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_MSE_Boxed.png
similarity index 100%
rename from code/perception/src/00_Experiments/kalman_datasets/plots/data_26_MSE_Boxed.png
rename to code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_MSE_Boxed.png
diff --git a/code/perception/src/00_Experiments/kalman_datasets/plots/data_26_RMSPE_Boxed.png b/code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_RMSPE_Boxed.png
similarity index 100%
rename from code/perception/src/00_Experiments/kalman_datasets/plots/data_26_RMSPE_Boxed.png
rename to code/perception/src/00_Experiments/Position_Heading_Datasets/plots/data_26_RMSPE_Boxed.png
diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py
new file mode 100644
index 00000000..cbe95be5
--- /dev/null
+++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py
@@ -0,0 +1,736 @@
+import pandas as pd
+import matplotlib.pyplot as plt
+import numpy as np
+
+"""
+The documentation on how to use this file can be found in
+docs/perception/07_perception_heading_filter_debug_node.md
+since it is used to visualize the data of the heading filter debug node.
+"""
+
+# FILE START and END are only needed for the range
+# of files you want to search for the best tuned file
+FILE_START = 0
+FILE_END = 20
+
+FILE_NUM = 26  # Change this to plot your wanted file #
+
+
+# current file_name to plot the data of one file!
+file_name = "data_" + str(FILE_NUM) + ".csv"
+
+# folder paths/ file paths
+folder_path_x = "./x_error/"
+folder_path_y = "./y_error/"
+folder_path_heading = "./heading_error/"
+
+
+# region PLOTS
+
+def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'):
+    """
+    Calculates the best tuned file by type and error type using a specific
+    check type.
+
+    Parameters:
+    type (str): The type of data to read. Either 'x', 'y' or 'h'. (default 'x')
+    error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or
+                    'RMSPE'. (default 'MSE')
+    check_type (str): The type of error to calculate. Either 'IQR' or 'default'
+                    IQR: Lower IQR is better
+                    default: lowest MSE/MAE is better
+                    Both are helpful to find the best tuned config.
+
+    Returns:
+
+    """
+    best_file = ""
+    best_val = []
+    for i in range(FILE_START, FILE_END):
+        if i < 10:
+            file_name = "data_0" + str(i) + ".csv"
+        else:
+            file_name = "data_" + str(i) + ".csv"
+
+        ideal, test_filter, current, unfiltered = (
+            get_x_or_y_or_h_from_csv_file(file_name, type))
+
+        # calculate the error for each method by error_type
+        if error_type == 'MSE':
+            # Calculate the MSE for each method
+            val_test_filter, test_filter_list = calculate_mse_x_or_y_or_h(
+                                                ideal,
+                                                test_filter)
+            val_current, current_list = calculate_mse_x_or_y_or_h(
+                ideal,
+                current)
+            val_unfiltered, unfiltered_list = calculate_mse_x_or_y_or_h(
+                ideal,
+                unfiltered)
+        elif error_type == 'MAE':
+            # Calculate the MAE for each method
+            val_test_filter, test_filter_list = calculate_mae_x_or_y_or_h(
+                                                ideal,
+                                                test_filter)
+            val_current, current_list = calculate_mae_x_or_y_or_h(
+                ideal,
+                current)
+            val_unfiltered, unfiltered_list = calculate_mae_x_or_y_or_h(
+                                              ideal,
+                                              unfiltered)
+
+        vals = [val_test_filter, val_current, val_unfiltered]
+
+        # evaluate the best tuned file by check_type
+        if check_type == 'IQR':
+            q3, q1 = np.percentile(test_filter_list, [80, 0])
+            iqr = q3 - q1
+            if i == FILE_START:
+                best_val = iqr
+                best_file = file_name
+                # best_error_data = error_lists
+            else:
+                # compare the vals of the test_filter filter that
+                # is tuned the best
+                if abs(iqr) < abs(best_val):
+                    best_val = iqr
+                    best_file = file_name
+        elif check_type == 'default':
+            if i == FILE_START:
+                best_val = vals[0]
+                best_file = file_name
+            else:
+                # compare the vals of the test_filter filter that
+                # is tuned the best
+                if abs(vals[0]) < abs(best_val):
+                    best_val = vals[0]
+                    best_file = file_name
+                    # best_error_data = error_lists
+
+    # plot the best file
+    plot_x_or_y_or_h_notched_box(best_file, type=type, error_type=error_type)
+    print(best_file)
+    print(best_val)
+    return
+
+
+def plot_x_or_y_or_h_notched_box(file_name, type='x', error_type='MSE'):
+    """
+    Calculates and plots the error of x, y or heading data for any given
+    error type.
+
+    Parameters:
+    file_name (str): The name of the CSV file.
+    type (str): The type of data to read. Either 'x','y' or 'h'. (default 'x')
+    error_type (str): The type of error to calculate.
+                    'MSE', 'MAE' (default 'MSE')
+
+    Returns:
+    """
+    if type == 'x':
+        ideal, test_filter, current, unfiltered = (
+            get_x_or_y_or_h_from_csv_file(file_name, 'x'))
+    elif type == 'y':
+        ideal, test_filter, current, unfiltered = (
+            get_x_or_y_or_h_from_csv_file(file_name, 'y'))
+    elif type == 'h':
+        ideal, test_filter, current, unfiltered = (
+            get_x_or_y_or_h_from_csv_file(file_name, 'h'))
+
+    if error_type == 'MSE':
+        # Calculate the MSE for each method
+        val_test_filter, test_filter_list = calculate_mse_x_or_y_or_h(
+            ideal,
+            test_filter)
+        val_current, current_list = calculate_mse_x_or_y_or_h(
+            ideal,
+            current)
+        val_unfiltered, unfiltered_list = calculate_mse_x_or_y_or_h(
+            ideal,
+            unfiltered)
+    elif error_type == 'MAE':
+        # Calculate the MAE for each method
+        val_test_filter, test_filter_list = calculate_mae_x_or_y_or_h(
+            ideal,
+            test_filter)
+        val_current, current_list = calculate_mae_x_or_y_or_h(
+            ideal,
+            current)
+        val_unfiltered, unfiltered_list = calculate_mae_x_or_y_or_h(
+            ideal,
+            unfiltered)
+
+    # Create a new figure
+    fig, ax = plt.subplots()
+
+    # Create a list of all errors
+    error_list = [test_filter_list, current_list, unfiltered_list]
+    # Create a box plot with notches
+    boxplot = ax.boxplot(error_list, notch=True,
+                         labels=['Test Filter', 'Current', 'Unfiltered'],
+                         patch_artist=True)
+
+    # fill with colors and put median vals in the boxes
+    colors = ['pink', 'lightblue', 'lightgreen']
+
+    tuple = zip(boxplot['boxes'], colors, boxplot['medians'],
+                boxplot['whiskers'][::2])
+
+    for i, (box, color, median) in enumerate(tuple):
+        box.set_facecolor(color)
+        median_val = median.get_ydata()[1]
+        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
+                ha='center', backgroundcolor='white')
+
+        # Calculate IQR
+        q3, q1 = np.percentile(error_list[i], [75, 0])
+        iqr = q3 - q1
+
+        # Get the y position for the IQR text
+        median_y = boxplot['medians'][i].get_ydata()[0]  # height of the notch
+
+        # Add the IQR text
+        ax.text(i+0.8, median_y, f'IQR: {iqr:.2f}', va='center',
+                ha='center', rotation=90, color='red', backgroundcolor='white')
+
+    # Set the labels
+    ax.set_xlabel('Filter')
+    ax.set_ylabel(error_type)
+    ax.set_title(error_type + ' of ' + type + ' for different methods')
+    ax.yaxis.grid(True)
+
+    # Show the plot
+    plt.show()
+
+
+def plot_MSE_notched_box(file_name):
+    """
+    Calculates the Mean Squared Error (MSE) for position data.
+
+    Parameters:
+    true_positions (numpy.ndarray): actual positions.
+    estimated_positions (numpy.ndarray): estimated positions.
+
+    Returns:
+    float: Mean Squared Error (MSE).
+    """
+    ideal_pos, test_filter_pos, current_pos, unfiltered_pos = (
+        get_positions_from_csv_file(file_name))
+
+    # Calculate the MSE for each method
+    val_test_filter, test_filter_list = calculate_mse_pos(ideal_pos,
+                                                          test_filter_pos)
+    val_current, current_list = calculate_mse_pos(ideal_pos,
+                                                  current_pos)
+    val_unfiltered, unfiltered_list = calculate_mse_pos(ideal_pos,
+                                                        unfiltered_pos)
+
+    # Create a new figure
+    fig, ax = plt.subplots()
+
+    # Create a list of all positions
+    pos_mse_list = [test_filter_list, current_list, unfiltered_list]
+    # Create a box plot with notches
+    boxplot = ax.boxplot(pos_mse_list, notch=True,
+                         labels=['Test Filter', 'Current', 'Unfiltered'],
+                         patch_artist=True)
+
+    # fill with colors and put median vals in the boxes
+    colors = ['pink', 'lightblue', 'lightgreen']
+    for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors,
+                                                 boxplot['medians'])):
+        box.set_facecolor(color)
+        median_val = median.get_ydata()[1]
+        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
+                ha='center', backgroundcolor='white')
+
+    # Set the labels
+    ax.set_xlabel('Method')
+    ax.set_ylabel('MSE')
+    ax.set_title('MSE for different methods')
+    ax.yaxis.grid(True)
+
+    # Show the plot
+    plt.show()
+
+
+def plot_MAE_notched_box(file_name):
+    """
+    Calculates the Mean Absolute Error (MAE) for position data.
+
+    Parameters:
+    true_positions (numpy.ndarray): Actual positions.
+    estimated_positions (numpy.ndarray): estimated positions.
+
+    Returns:
+    float: Mean Absolute Error (MAE).
+    """
+    ideal_pos, test_filter_pos, current_pos, unfiltered_pos = (
+        get_positions_from_csv_file(file_name))
+
+    # Calculate the MAE for each method
+    mae_test_filter, test_filter_list = calculate_mae_pos(ideal_pos,
+                                                          test_filter_pos)
+    mae_current, current_list = calculate_mae_pos(ideal_pos,
+                                                  current_pos)
+    mae_unfiltered, unfiltered_list = calculate_mae_pos(ideal_pos,
+                                                        unfiltered_pos)
+
+    # Create a new figure
+    fig, ax = plt.subplots()
+
+    # Create a list of all positions
+    pos_mae_list = [test_filter_list, current_list, unfiltered_list]
+
+    # Create a box plot with notches
+    boxplot = ax.boxplot(pos_mae_list, notch=True,
+                         labels=['Test Filter', 'Current', 'Unfiltered'],
+                         patch_artist=True)
+
+    # fill with colors and put median vals in the boxes
+    colors = ['pink', 'lightblue', 'lightgreen']
+    for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors,
+                                                 boxplot['medians'])):
+        box.set_facecolor(color)
+        median_val = median.get_ydata()[1]
+        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
+                ha='center', backgroundcolor='white')
+
+    # Set the labels
+    ax.set_xlabel('Method')
+    ax.set_ylabel('MAE')
+    ax.set_title('MAE for different methods')
+    ax.yaxis.grid(True)
+
+    # Show the plot
+    plt.show()
+
+
+def plot_CEP(file_name):
+    """
+    Plots the CEP as error circles of different colors in the x-y plane.
+
+    Parameters:
+    String: file_name
+
+    Returns:
+    """
+    file_path_x = folder_path_x + file_name
+    file_path_y = folder_path_y + file_name
+
+    # Read the CSV file into a DataFrame
+    df_x = pd.read_csv(file_path_x)
+    df_y = pd.read_csv(file_path_y)
+
+    # Set the first column (time) as the index of the DataFrames
+    df_x.set_index(df_x.columns[0], inplace=True)
+    df_y.set_index(df_y.columns[0], inplace=True)
+
+    # create pos tuples of the x and y data and store them as numpy arrays
+    ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'],
+                                  df_y['Ideal (Carla) Y'])))
+    test_filter_pos = np.array(list(zip(df_x['Test Filter X'],
+                                        df_y['Test Filter Y'])))
+    current_pos = np.array(list(zip(df_x['Current X'],
+                                    df_y['Current Y'])))
+    unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'],
+                                       df_y['Unfiltered Y'])))
+
+    # create CEP for each method
+    cep_test_filter, cep_current, cep_unfiltered = calculate_cep(
+        ideal_pos, test_filter_pos, current_pos, unfiltered_pos)
+
+    # plot the cep as error circles of different colors in the x-y plane
+    # Create a new figure
+    fig, ax = plt.subplots()
+
+    # Create circles with the given radii
+    circle_test_filter = plt.Circle((0, 0), cep_test_filter, fill=False,
+                                    label='Test Filter',
+                                    color='r')
+    circle_current = plt.Circle((0, 0), cep_current, fill=False,
+                                label='Current', color='g')
+    circle_unfiltered = plt.Circle((0, 0), cep_unfiltered, fill=False,
+                                   label='Unfiltered', color='b')
+
+    # Add the circles to the plot
+    ax.add_artist(circle_test_filter)
+    ax.add_artist(circle_current)
+    ax.add_artist(circle_unfiltered)
+
+    # Set the limits of the plot to show all circles
+    ax.set_xlim(-max(cep_test_filter, cep_current, cep_unfiltered),
+                max(cep_test_filter, cep_current, cep_unfiltered))
+    ax.set_ylim(-max(cep_test_filter, cep_current, cep_unfiltered),
+                max(cep_test_filter, cep_current, cep_unfiltered))
+
+    # Add a legend
+    plt.legend()
+
+    # Add a grid
+    plt.grid(True)
+
+    # Set the y-axis label to 'Distance in Meters'
+    plt.ylabel('Distance in Meters')
+
+    # Set the x-axis label to 'Distance in Meters'
+    plt.xlabel('Distance in Meters')
+
+
+def plot_csv_x_or_y(file_name, type='x'):
+    """
+    Plots the x or y data from a CSV file.
+
+    Parameters:
+    file_name (str): The name of the CSV file.
+    """
+    if type == 'x':
+        file_path = folder_path_x + file_name
+    elif type == 'y':
+        file_path = folder_path_y + file_name
+
+    # Read the CSV file into a DataFrame
+    df = pd.read_csv(file_path)
+
+    # Plot the 'test_filter' (blue) and 'current' (green)
+    plt.plot(df['Test Filter'], 'b-', label='Test Filter')
+    plt.plot(df['Current'], 'g-', label='Current')
+
+    # Plot the 'ideal' column with a red dotted line
+    plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal')
+
+    # Display the legend
+    plt.legend()
+    # Plot the DataFrame
+    df.plot()
+
+    # Add a grid
+    plt.grid(True)
+
+    # Set the y-
+    # axis label to 'Distance in Meters'
+    plt.ylabel('Distance in Meters')
+
+    # Set the x-axis label to 'Time'
+    plt.xlabel('Time in seconds')
+
+    plt.title(type + ' Positions in Meters')
+
+
+def plot_csv_heading(file_name):
+    """
+    Plots the heading data from a CSV file.
+
+    Parameters:
+    file_name (str): The name of the CSV file.
+
+    Returns:
+    """
+    file_path_heading = folder_path_heading + file_name
+    # Read the CSV file into a DataFrame
+    df = pd.read_csv(file_path_heading)
+
+    # Plot the 'test_filter_heading' (blue) and 'current_heading' (green)
+    # line style
+    plt.plot(df['Test Filter'], 'b-', label='Test Filter Heading')
+    plt.plot(df['Current'], 'g-', label='Current Heading')
+
+    # Plot the 'ideal_heading' column with a blue dotted line
+    plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal Heading')
+    # Display the legend
+    plt.legend()
+    # Plot the DataFrame
+    df.plot()
+
+    # Add a grid
+    plt.grid(True)
+
+    # Set the y-axis label to 'Radians'
+    plt.ylabel('Heading in Radians')
+
+    # Set the x-axis label to 'Time'
+    plt.xlabel('Time in seconds')
+
+
+def plot_csv_positions(file_name):
+    """
+    Plots the x AND y data from a CSV file.
+
+    Parameters:
+    file_name (str): The name of the CSV file.
+
+    Returns:
+    """
+    # Read the CSV file into a DataFrame
+    ideal, test_filter, current, unfiltered = (
+        get_positions_from_csv_file(file_name))
+
+    ideal_x, ideal_y = zip(*ideal)
+    test_filter_x, test_filter_y = zip(test_filter)
+    current_x, current_y = zip(current)
+    unfiltered_x, unfiltered_y = zip(unfiltered)
+
+    plt.plot(ideal_x, ideal_y, marker=',',
+             color='red', label='Ideal')
+    plt.plot(test_filter_x, test_filter_y, marker='.',
+             color='blue', label='Test Filter')
+    plt.plot(current_x, current_y, marker='.',
+             color='green', label='Current')
+    plt.plot(unfiltered_x, unfiltered_y, marker='.',
+             color='purple', label='Unfiltered')
+
+    # Display the legend
+    plt.legend()
+
+    # Add a grid
+    plt.grid(True)
+
+    # Set the y-axis label to 'Y Position in Meters'
+    plt.ylabel('Y Position in Meters')
+
+    # Set the x-axis label to 'X Position in Meters'
+    plt.xlabel('X Position in Meters')
+
+    plt.title('X and Y Positions in Meters')
+# endregion PLOTS
+
+
+# region CALCUATIONS
+def calculate_mae_pos(ideal, estimated):
+    """
+    Calculates the Mean Absolute Error (MAE) for position data.
+
+    Parameters:
+    ideal (numpy.ndarray): The ideal positions.
+    estimated (numpy.ndarray): The estimated positions.
+
+    Returns:
+    Tuple: A tuple containing the MAE and the error for each position.
+    """
+    # Calculate the errors
+    error = np.linalg.norm(ideal - estimated, axis=1)
+
+    # Calculate the MAE
+    mae = np.mean(error)
+
+    return mae, error
+
+
+def calculate_mse_pos(ideal, estimated):
+    """
+    Calculates the Mean Squared Error (MSE) for position data.
+
+    Parameters:
+    ideal (numpy.ndarray): The ideal positions.
+    estimated (numpy.ndarray): The estimated positions.
+
+    Returns:
+    Tuple: A tuple containing the MSE and the error for each position.
+    """
+    # Calculate the errors
+    error = np.linalg.norm(ideal - estimated, axis=1)**2
+
+    # Calculate the MSE
+    mse = np.mean(error)
+
+    return mse, error
+
+
+def calculate_mae_x_or_y_or_h(ideal, estimated):
+    """
+    Calculates the Mean Absolute Error (MAE) for x or y or heading data.
+
+    Parameters:
+    ideal (numpy.ndarray): The ideal x or y positions or heading.
+    estimated (numpy.ndarray): The estimated x or y positions or heading.
+
+    Returns:
+    Tuple: A tuple containing the MAE and the error for each position
+        or heading.
+    """
+    # Calculate the errors
+    error = np.abs(ideal - estimated)
+
+    # Calculate the MAE
+    mae = np.mean(error)
+
+    return mae, error
+
+
+def calculate_mse_x_or_y_or_h(ideal, estimated):
+    """
+    Calculates the Mean Squared Error (MSE) for x or y or heading data.
+
+    Parameters:
+    ideal (numpy.ndarray): The ideal x or y positions oe heading.
+    estimated (numpy.ndarray): The estimated x or y positions or heading.
+
+    Returns:
+    Tuple: A tuple containing the MSE and the error for each position
+        or heading.
+    """
+    # Calculate the errors
+    error = (ideal - estimated)**2
+
+    # Calculate the MSE
+    mse = np.mean(error)
+
+    return mse, error
+
+
+def calculate_cep(ideal, test_filter, current, unfiltered, percentile=90):
+    """
+    Calculates the Circular Error Probable (CEP) for position data.
+    Comparable to the Error Circle that Google Maps shows for position
+    uncertainty.
+
+    Parameters:
+    ideal (numpy.ndarray): The ideal positions.
+    test_filter (numpy.ndarray): The positions estimated using test_filter
+                                filtering.
+    current (numpy.ndarray): The positions calculated using the current
+                            filter.
+    unfiltered (numpy.ndarray): The unfiltered positions.
+    percentile (int): The percentile to use when calculating the CEP.
+
+    Returns:
+    tuple: A tuple containing the CEP for each method.
+    """
+    # Calculate the errors
+    error_test_filter = np.sqrt(np.sum((test_filter - ideal)**2, axis=1))
+    error_current = np.sqrt(np.sum((current - ideal)**2, axis=1))
+    error_unfiltered = np.sqrt(np.sum((unfiltered - ideal)**2, axis=1))
+
+    # Calculate the CEP for each method
+    cep_test_filter = np.percentile(error_test_filter, percentile)
+    cep_current = np.percentile(error_current, percentile)
+    cep_unfiltered = np.percentile(error_unfiltered, percentile)
+
+    return cep_test_filter, cep_current, cep_unfiltered
+
+# endregion CALCUATIONS
+
+
+# region helper methods:
+def get_positions_from_csv_file(file_name, file_name_y=file_name):
+    """
+    Reads position data from CSV files and returns them as numpy arrays.
+
+    Args:
+        file_name (str): The name of the CSV file
+        file_name_y (str): The name of the CSV file for the y data.
+                           (default file_name; should be the same)
+
+    Returns:
+        tuple: A tuple containing four numpy arrays representing the positions.
+            - unfiltered_pos: The unfiltered positions.
+            - ideal_pos: The ideal positions.
+            - test_filter_pos: The positions estimated using test filter.
+            - current_pos: The positions estimated using current filter.
+    Raises:
+        FileNotFoundError: If the specified CSV file does not exist.
+    """
+    file_path_x = folder_path_x + file_name
+    file_path_y = folder_path_y + file_name_y
+
+    # Read the CSV file into a DataFrame
+    df_x = pd.read_csv(file_path_x)
+    df_y = pd.read_csv(file_path_y)
+
+    # Set the first column (time) as the index of the DataFrames
+    df_x.set_index(df_x.columns[0], inplace=True)
+    df_y.set_index(df_y.columns[0], inplace=True)
+
+    # create pos tuples of the x and y data and store them as numpy arrays
+    ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'],
+                                  df_y['Ideal (Carla) Y'])))
+    test_filter_pos = np.array(list(zip(df_x['Test Filter X'],
+                                        df_y['Test Filter Y'])))
+    current_pos = np.array(list(zip(df_x['Current X'],
+                                    df_y['Current Y'])))
+    unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'],
+                                       df_y['Unfiltered Y'])))
+
+    return ideal_pos, test_filter_pos, current_pos, unfiltered_pos
+
+
+def get_x_or_y_or_h_from_csv_file(file_name, type='x'):
+    """
+    Reads x,y or heading data from CSV files and returns them as numpy arrays.
+
+    Args:
+        file_name (str): The name of the CSV file.
+        type (str): The type of data to read. Either 'x','y' or 'h'.
+                    (default 'x')
+
+    Returns:
+        tuple: A tuple containing four numpy arrays representing the positions.
+            - ideal: The ideal data.
+            - test_filter: The data estimated using test_filter filtering.
+            - current: The data calculated using a running
+            average.
+            - unfiltered: The unfiltered data. """
+
+    if type == 'x':
+        file_path = folder_path_x + file_name
+    elif type == 'y':
+        file_path = folder_path_y + file_name
+    elif type == 'h':
+        file_path = folder_path_heading + file_name
+
+    # Read the CSV file into a DataFrame
+    # (skip the first couple rows because of wrong measurements)
+    df = pd.read_csv(file_path, skiprows=8)
+
+    # Set the first column (time) as the index of the DataFrames
+    df.set_index(df.columns[0], inplace=True)
+
+    if type == 'x':
+        # store x as numpy arrays
+        ideal = np.array(df['Ideal (Carla) X'])
+        test_filter = np.array(df['Test Filter X'])
+        current = np.array(df['Current X'])
+        unfiltered = np.array(df['Unfiltered X'])
+    elif type == 'y':
+        # store y as numpy arrays
+        ideal = np.array(df['Ideal (Carla) Y'])
+        test_filter = np.array(df['Test Filter Y'])
+        current = np.array(df['Current Y'])
+        unfiltered = np.array(df['Unfiltered Y'])
+    elif type == 'h':
+        # store heading as numpy arrays
+        ideal = np.array(df['Ideal (Carla)'])
+        test_filter = np.array(df['Test Filter'])
+        current = np.array(df['Current'])
+        unfiltered = np.array(df['Unfiltered'])
+
+    return ideal, test_filter, current, unfiltered
+# endregion helper methods
+
+
+# main:
+if __name__ == "__main__":
+    # file_name can be changed by changing the FILE_NUM variable
+    data = file_name
+    plot_CEP(data)
+
+    plot_x_or_y_or_h_notched_box(data, type='x', error_type='MSE')
+    plot_x_or_y_or_h_notched_box(data, type='x', error_type='MAE')
+
+    # plot_x_or_y_or_h_notched_box(data, type='y', error_type='MSE')
+    # plot_x_or_y_or_h_notched_box(data, type='y', error_type='MAE')
+
+    # plot_x_or_y_or_h_notched_box(data, type='h', error_type='MSE')
+    # plot_x_or_y_or_h_notched_box(data, type='h', error_type='MAE')
+
+    # plot_best_tuned_file_by_type(type='x',error_type='MSE',check_type='IQR')
+    # plot_best_tuned_file_by_type(type='y',error_type='MSE',check_type='IQR')
+    # plot_best_tuned_file_by_type(type='h',error_type='MSE',check_type='IQR')
+
+    # plot_csv_x_or_y(data, type='x')
+    # plot_csv_x_or_y(data, type='y')
+    # plot_csv_heading(data)
+    # plot_csv_positions(data)
+
+    # always use plt.show() to show the plots
+    plt.show()
diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_00.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_00.csv
deleted file mode 100644
index 640b6953..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_00.csv
+++ /dev/null
@@ -1,476 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_01.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_01.csv
deleted file mode 100644
index 4ea5dd60..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_01.csv
+++ /dev/null
@@ -1,487 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_02.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_02.csv
deleted file mode 100644
index 2153e767..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_02.csv
+++ /dev/null
@@ -1,482 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_03.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_03.csv
deleted file mode 100644
index 89b8168a..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_03.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_04.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_04.csv
deleted file mode 100644
index 229c631b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_04.csv
+++ /dev/null
@@ -1,256 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_05.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_05.csv
deleted file mode 100644
index 342abea4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_05.csv
+++ /dev/null
@@ -1,465 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_06.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_06.csv
deleted file mode 100644
index 4a90b944..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_06.csv
+++ /dev/null
@@ -1,453 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_07.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_07.csv
deleted file mode 100644
index 22859e2f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_07.csv
+++ /dev/null
@@ -1,178 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_08.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_08.csv
deleted file mode 100644
index 4393763d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_08.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_09.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_09.csv
deleted file mode 100644
index 7d772b50..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_09.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_10.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_10.csv
deleted file mode 100644
index eadc28db..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_10.csv
+++ /dev/null
@@ -1,814 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_11.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_11.csv
deleted file mode 100644
index f0c6dbfa..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_11.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_12.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_12.csv
deleted file mode 100644
index e7085072..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_12.csv
+++ /dev/null
@@ -1,247 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_13.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_13.csv
deleted file mode 100644
index 4633c027..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_13.csv
+++ /dev/null
@@ -1,386 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_14.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_14.csv
deleted file mode 100644
index 9d21d48f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_14.csv
+++ /dev/null
@@ -1,319 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_15.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_15.csv
deleted file mode 100644
index 767723ee..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_15.csv
+++ /dev/null
@@ -1,378 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_16.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_16.csv
deleted file mode 100644
index 44c5a880..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_16.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_17.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_17.csv
deleted file mode 100644
index 436e53b0..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_17.csv
+++ /dev/null
@@ -1,373 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_18.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_18.csv
deleted file mode 100644
index 4d9b0414..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_18.csv
+++ /dev/null
@@ -1,331 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_19.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_19.csv
deleted file mode 100644
index 5d233f7b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_19.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_20.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_20.csv
deleted file mode 100644
index 17fb7651..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_20.csv
+++ /dev/null
@@ -1,386 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_21.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_21.csv
deleted file mode 100644
index c18473fc..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_21.csv
+++ /dev/null
@@ -1,327 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_22.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_22.csv
deleted file mode 100644
index 83d1a850..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_22.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_23.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_23.csv
deleted file mode 100644
index 7d314f53..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_23.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_24.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_24.csv
deleted file mode 100644
index 50920e7b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_24.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_25.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_25.csv
deleted file mode 100644
index dc365b5d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_25.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_26.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_26.csv
deleted file mode 100644
index d531a981..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_26.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_27.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_27.csv
deleted file mode 100644
index 7f0eb060..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_27.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_28.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_28.csv
deleted file mode 100644
index 86aebd0f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_28.csv
+++ /dev/null
@@ -1,366 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_29.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_29.csv
deleted file mode 100644
index 76b1162d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_29.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_30.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_30.csv
deleted file mode 100644
index 2e92ff53..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_30.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_31.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_31.csv
deleted file mode 100644
index 46a72e94..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_31.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_32.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_32.csv
deleted file mode 100644
index 40ad5363..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_32.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv
deleted file mode 100644
index 681cd855..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_33.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_34.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_34.csv
deleted file mode 100644
index 0ac69d01..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_34.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_35.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_35.csv
deleted file mode 100644
index b5e2beb6..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_35.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_36.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_36.csv
deleted file mode 100644
index 1a9ebad8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_36.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_37.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_37.csv
deleted file mode 100644
index 2110a36a..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_37.csv
+++ /dev/null
@@ -1,795 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_38.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_38.csv
deleted file mode 100644
index 6807ed6c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_38.csv
+++ /dev/null
@@ -1,183 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_39.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_39.csv
deleted file mode 100644
index 9037e100..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_39.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_40.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_40.csv
deleted file mode 100644
index 24a0a83c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_40.csv
+++ /dev/null
@@ -1,457 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_41.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_41.csv
deleted file mode 100644
index 40e07206..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_41.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_42.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_42.csv
deleted file mode 100644
index 64cab9fe..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_42.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_43.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_43.csv
deleted file mode 100644
index a857c8a7..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_43.csv
+++ /dev/null
@@ -1,200 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_44.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_44.csv
deleted file mode 100644
index 5dbae13d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_44.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_45.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_45.csv
deleted file mode 100644
index 5321739d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_45.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_46.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_46.csv
deleted file mode 100644
index d8873e3b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_46.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_47.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_47.csv
deleted file mode 100644
index 30d9b899..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_47.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_48.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_48.csv
deleted file mode 100644
index 48aa8293..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_48.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_49.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_49.csv
deleted file mode 100644
index eb74a591..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_49.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_50.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_50.csv
deleted file mode 100644
index c299c125..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_50.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_51.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_51.csv
deleted file mode 100644
index af1f7e95..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_51.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_52.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_52.csv
deleted file mode 100644
index 5b8329a1..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_52.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_53.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_53.csv
deleted file mode 100644
index 0a053b5e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_53.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_54.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_54.csv
deleted file mode 100644
index 7675afb4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_54.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_55.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_55.csv
deleted file mode 100644
index 04dfa5d2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_55.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_56.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_56.csv
deleted file mode 100644
index 5625ea6a..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_56.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_57.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_57.csv
deleted file mode 100644
index 1c25088a..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_57.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_58.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_58.csv
deleted file mode 100644
index 7f46aa3d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_58.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_59.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_59.csv
deleted file mode 100644
index 3f68fe99..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_59.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_60.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_60.csv
deleted file mode 100644
index 624bd4ec..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_60.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_61.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_61.csv
deleted file mode 100644
index e205dc70..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_61.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_62.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_62.csv
deleted file mode 100644
index a4e3109b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_62.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_63.csv b/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_63.csv
deleted file mode 100644
index d6dfb412..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/heading_error/data_63.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/viz.py b/code/perception/src/00_Experiments/kalman_datasets/viz.py
deleted file mode 100644
index 70ea1ad8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/viz.py
+++ /dev/null
@@ -1,880 +0,0 @@
-import pandas as pd
-import matplotlib.pyplot as plt
-import numpy as np
-
-FILE_START = 15
-FILE_END = 33
-
-file_name = "data_26.csv"
-folder_path_x = "./x_error/"
-folder_path_y = "./y_error/"
-file_path_x = folder_path_x + file_name
-file_path_y = folder_path_y + file_name
-file_path_heading = "./heading_error/" + file_name
-
-
-# region PLOTS
-def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'):
-    """
-    Berechnet den Error Typ für x oder y Daten.
-
-    Parameters:
-    type (str): The type of data to read. Either 'x' or 'y'. (default 'x')
-    error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or
-                      'RMSPE'. (default 'MSE')
-    check_type (str): The type of error to calculate. Either 'IQR' or 'default'
-
-    Returns:
-
-    """
-    best_file = ""
-    best_val = []
-    # best_error_data = ()
-    for i in range(FILE_START, FILE_END):
-        if i < 10:
-            file_name = "data_0" + str(i) + ".csv"
-        else:
-            file_name = "data_" + str(i) + ".csv"
-
-        ideal, kalman, running_avg, unfiltered = (
-            get_x_or_y_from_csv_file(file_name, type))
-
-        if error_type == 'MSE':
-            # Calculate the MSE for each method
-            val_kalman, kalman_list = calculate_mse_x_or_y(ideal, kalman)
-            val_running_avg, running_avg_list = calculate_mse_x_or_y(
-                ideal,
-                running_avg)
-            val_unfiltered, unfiltered_list = calculate_mse_x_or_y(
-                ideal,
-                unfiltered)
-        elif error_type == 'MAE':
-            # Calculate the MAE for each method
-            val_kalman, kalman_list = calculate_mae_x_or_y(ideal, kalman)
-            val_running_avg, running_avg_list = calculate_mae_x_or_y(
-                ideal,
-                running_avg)
-            val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal,
-                                                                   unfiltered)
-        elif error_type == 'RMSPE':
-            # Calculate the RMSPE for each method
-            val_kalman, kalman_list = calculate_RMSPE_x_or_y(ideal,
-                                                             kalman)
-            val_running_avg, running_avg_list = calculate_RMSPE_x_or_y(
-                ideal, running_avg)
-            val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y(
-                ideal, unfiltered)
-
-        vals = [val_kalman, val_running_avg, val_unfiltered]
-        # error_lists = (kalman_list, running_avg_list, unfiltered_list)
-
-        if check_type == 'IQR':
-            q3, q1 = np.percentile(kalman_list, [80, 0])
-            iqr = q3 - q1
-            if i == FILE_START:
-                best_val = iqr
-                best_file = file_name
-                # best_error_data = error_lists
-            else:
-                # compare the vals of the kalman filter that is tuned the best
-                if abs(iqr) < abs(best_val):
-                    best_val = iqr
-                    best_file = file_name
-                    # best_error_data = error_lists
-        elif check_type == 'default':
-            if i == FILE_START:
-                best_val = vals[0]
-                best_file = file_name
-                # best_error_data = error_lists
-            else:
-                # compare the vals of the kalman filter that is tuned the best
-                if abs(vals[0]) < abs(best_val):
-                    best_val = vals[0]
-                    best_file = file_name
-                    # best_error_data = error_lists
-
-    # plot the best file
-    plot_x_or_y_notched_box(best_file, type=type, error_type=error_type)
-    print(best_file)
-    print(best_val)
-
-
-def plot_best_tuned_file():
-    """
-    Berechnet den Mean Squared Error (MSE) für Positionsdaten.
-
-    Parameters:
-    true_positions (numpy.ndarray): Die tatsächlichen Positionen.
-    estimated_positions (numpy.ndarray): Die geschätzten Positionen.
-
-    Returns:
-    tuple: best file as a String and the MSE's of the best file.
-    """
-    best_file = ""
-    best_mse = []
-    # best_error_data = ()
-    for i in range(FILE_START, FILE_END):
-        if i < 10:
-            file_name = "data_0" + str(i) + ".csv"
-        else:
-            file_name = "data_" + str(i) + ".csv"
-
-        ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-            get_positions_from_csv_file(file_name))
-
-        # Calculate the Error for each method by error_type
-        val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos)
-        val_running_avg, running_avg_list = calculate_mse(ideal_pos,
-                                                          running_avg_pos)
-        val_unfiltered, unfiltered_list = calculate_mse(ideal_pos,
-                                                        unfiltered_pos)
-
-        mses = [val_kalman, val_running_avg, val_unfiltered]
-        # error_lists = (kalman_list, running_avg_list, unfiltered_list)
-
-        # Show the plot
-        # plt.show()
-        if i == 2:
-            best_mse = mses
-            best_file = file_name
-        else:
-            # compare the mses of the kalman filter that is tuned the best
-            if mses[0] < best_mse[0]:
-                best_mse = mses
-                best_file = file_name
-                # best_error_data = error_lists
-
-    # plot the best file
-    plot_MSE_notched_box(best_file)
-    print(best_file)
-    print(best_mse)
-
-
-def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'):
-    """
-    Berechnet den Mean Squared Error (MSE) für Positionsdaten.
-
-    Parameters:
-    file_name (str): The name of the CSV file.
-    type (str): The type of data to read. Either 'x' or 'y'. (default 'x')
-    error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or
-                      'RMSPE'. (default 'MSE')
-
-    Returns:
-    """
-    if type == 'x':
-        ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-            get_x_or_y_from_csv_file(file_name, 'x'))
-    elif type == 'y':
-        ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-            get_x_or_y_from_csv_file(file_name, 'y'))
-
-    if error_type == 'MSE':
-        # Calculate the MSE for each method
-        val_kalman, kalman_list = calculate_mse_x_or_y(ideal_pos, kalman_pos)
-        val_running_avg, running_avg_list = calculate_mse_x_or_y(
-            ideal_pos,
-            running_avg_pos)
-        val_unfiltered, unfiltered_list = calculate_mse_x_or_y(
-            ideal_pos,
-            unfiltered_pos)
-    elif error_type == 'MAE':
-        # Calculate the MAE for each method
-        val_kalman, kalman_list = calculate_mae_x_or_y(ideal_pos, kalman_pos)
-        val_running_avg, running_avg_list = calculate_mae_x_or_y(
-            ideal_pos,
-            running_avg_pos)
-        val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal_pos,
-                                                               unfiltered_pos)
-    elif error_type == 'RMSPE':
-        # Calculate the RMSPE for each method
-        val_kalman, kalman_list = calculate_RMSPE_x_or_y(
-            ideal_pos,
-            kalman_pos)
-        val_running_avg, running_avg_list = calculate_RMSPE_x_or_y(
-            ideal_pos, running_avg_pos)
-        val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y(
-            ideal_pos, unfiltered_pos)
-
-    # Create a new figure
-    fig, ax = plt.subplots()
-
-    # Create a list of all positions
-    pos_error_list = [kalman_list, running_avg_list, unfiltered_list]
-    # Create a box plot with notches
-    boxplot = ax.boxplot(pos_error_list, notch=True,
-                         labels=['Kalman', 'Running Avg', 'Unfiltered'],
-                         patch_artist=True)
-
-    # fill with colors and put median vals in the boxes
-    colors = ['pink', 'lightblue', 'lightgreen']
-
-    tuple = zip(boxplot['boxes'], colors, boxplot['medians'],
-                boxplot['whiskers'][::2])
-
-    for i, (box, color, median, whisker) in enumerate(tuple):
-        box.set_facecolor(color)
-        median_val = median.get_ydata()[1]
-        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
-                ha='center', backgroundcolor='white')
-
-        # Calculate IQR
-        q3, q1 = np.percentile(pos_error_list[i], [75, 0])
-        iqr = q3 - q1
-
-        # Get the y position for the IQR text
-        median_y = boxplot['medians'][i].get_ydata()[0]  # height of the notch
-
-        # Add the IQR text
-        ax.text(i+0.8, median_y, f'IQR: {iqr:.2f}', va='center',
-                ha='center', rotation=90, color='red', backgroundcolor='white')
-
-    # Set the labels
-    ax.set_xlabel('Filter')
-    ax.set_ylabel(error_type)
-    ax.set_title(error_type + ' of ' + type + ' for different methods')
-    ax.yaxis.grid(True)
-
-    # Show the plot
-    plt.show()
-
-
-def get_positions_from_csv_file(file_name):
-    """
-    Reads position data from CSV files and returns them as numpy arrays.
-
-    Args:
-        file_name (str): The name of the CSV file.
-
-    Returns:
-        tuple: A tuple containing four numpy arrays representing the positions.
-            - ideal_pos: The ideal positions.
-            - kalman_pos: The positions estimated using Kalman filtering.
-            - running_avg_pos: The positions calculated using a running
-              average.
-            - unfiltered_pos: The unfiltered positions.
-
-    Raises:
-        FileNotFoundError: If the specified CSV file does not exist.
-    """
-    file_path_x = folder_path_x + file_name
-    file_path_y = folder_path_y + file_name
-
-    # Read the CSV file into a DataFrame
-    df_x = pd.read_csv(file_path_x)
-    df_y = pd.read_csv(file_path_y)
-
-    # rename the columns
-    df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x',
-                    'unfiltered_x', 'kalman_debug_x', 'current_debug_x',
-                    'unfiltered_debug_x']
-    df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y',
-                    'unfiltered_y', 'kalman_debug_y', 'current_debug_y',
-                    'unfiltered_debug_y']
-
-    # Set the first column (time) as the index of the DataFrames
-    df_x.set_index(df_x.columns[0], inplace=True)
-    df_y.set_index(df_y.columns[0], inplace=True)
-
-    # create pos tuples of the x and y data and store them as numpy arrays
-    ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y'])))
-    kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y'])))
-    running_avg_pos = np.array(list(zip(df_x['running_avg_x'],
-                                        df_y['running_avg_y'])))
-    unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'],
-                                       df_y['unfiltered_y'])))
-
-    return ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos
-
-
-def get_x_or_y_from_csv_file(file_name, type='x'):
-    """
-    Reads x or y data from CSV files and returns them as numpy arrays.
-
-    Args:
-        file_name (str): The name of the CSV file.
-        type (str): The type of data to read. Either 'x' or 'y'. (default 'x')
-
-    Returns:
-        tuple: A tuple containing four numpy arrays representing the positions.
-            - ideal: The ideal positions.
-            - kalman: The positions estimated using Kalman filtering.
-            - running_avg: The positions calculated using a running
-              average.
-            - unfiltered: The unfiltered positions. """
-
-    if type == 'x':
-        file_path = folder_path_x + file_name
-    elif type == 'y':
-        file_path = folder_path_y + file_name
-
-    # Read the CSV file into a DataFrame
-    df = pd.read_csv(file_path, skiprows=8)
-
-    # rename the columns
-    df.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x',
-                  'unfiltered_x', 'kalman_debug_x', 'current_debug_x',
-                  'unfiltered_debug_x']
-
-    # Set the first column (time) as the index of the DataFrames
-    df.set_index(df.columns[0], inplace=True)
-
-    # store x as numpy arrays
-    ideal = np.array(df['ideal_x'])
-    kalman = np.array(df['kalman_x'])
-    running_avg = np.array(df['running_avg_x'])
-    unfiltered = np.array(df['unfiltered_x'])
-
-    return ideal, kalman, running_avg, unfiltered
-
-
-def plot_RMSPE_notched_box(file_name):
-    """
-    Berechnet den Root Mean Squared Percentage Error (RMSPE)
-    für Positionsdaten.
-
-    Parameters:
-    String: file_name
-
-    Returns:
-    """
-
-    ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-        get_positions_from_csv_file(file_name))
-
-    # Calculate the RMSPE for each method
-    rmspe_kalman, kalman_list = calculate_RMSPE(ideal_pos, kalman_pos)
-    rmspe_running_avg, running_avg_list = calculate_RMSPE(ideal_pos,
-                                                          running_avg_pos)
-    rmspe_unfiltered, unfiltered_list = calculate_RMSPE(ideal_pos,
-                                                        unfiltered_pos)
-
-    # Create a new figure
-    fig, ax = plt.subplots()
-
-    # Create a list of all positions
-    pos_rmspe_list = [kalman_list, running_avg_list, unfiltered_list]
-    # Create a box plot with notches
-    boxplot = ax.boxplot(pos_rmspe_list, notch=True,
-                         labels=['Kalman', 'Running Avg', 'Unfiltered'],
-                         patch_artist=True)
-
-    # fill with colors and put median vals in the boxes
-    colors = ['pink', 'lightblue', 'lightgreen']
-    for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors,
-                                                 boxplot['medians'])):
-        box.set_facecolor(color)
-        median_val = median.get_ydata()[1]
-        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
-                ha='center', backgroundcolor='white')
-
-    # Set the labels
-    ax.set_xlabel('Method')
-    ax.set_ylabel('RMSPE')
-    ax.set_title('RMSPE for different methods')
-    ax.yaxis.grid(True)
-
-    # Show the plot
-    plt.show()
-
-
-def plot_MSE_notched_box(file_name):
-    """
-    Berechnet den Mean Squared Error (MSE) für Positionsdaten.
-
-    Parameters:
-    true_positions (numpy.ndarray): Die tatsächlichen Positionen.
-    estimated_positions (numpy.ndarray): Die geschätzten Positionen.
-
-    Returns:
-    float: Der Mean Squared Error (MSE).
-    """
-    ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-        get_positions_from_csv_file(file_name))
-
-    # Calculate the MSE for each method
-    val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos)
-    val_running_avg, running_avg_list = calculate_mse(ideal_pos,
-                                                      running_avg_pos)
-    val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, unfiltered_pos)
-
-    # Create a new figure
-    fig, ax = plt.subplots()
-
-    # Create a list of all positions
-    pos_mse_list = [kalman_list, running_avg_list, unfiltered_list]
-    # Create a box plot with notches
-    boxplot = ax.boxplot(pos_mse_list, notch=True,
-                         labels=['Kalman', 'Running Avg', 'Unfiltered'],
-                         patch_artist=True)
-
-    # fill with colors and put median vals in the boxes
-    colors = ['pink', 'lightblue', 'lightgreen']
-    for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors,
-                                                 boxplot['medians'])):
-        box.set_facecolor(color)
-        median_val = median.get_ydata()[1]
-        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
-                ha='center', backgroundcolor='white')
-
-    # Set the labels
-    ax.set_xlabel('Method')
-    ax.set_ylabel('MSE')
-    ax.set_title('MSE for different methods')
-    ax.yaxis.grid(True)
-
-    # Show the plot
-    plt.show()
-
-
-def plot_MAE_notched_box(file_name):
-    """
-    Berechnet den Mean Absolute Error (MAE) für Positionsdaten.
-
-    Parameters:
-    true_positions (numpy.ndarray): Die tatsächlichen Positionen.
-    estimated_positions (numpy.ndarray): Die geschätzten Positionen.
-
-    Returns:
-    float: Der Mean Absolute Error (MAE).
-    """
-    ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = (
-        get_positions_from_csv_file(file_name))
-
-    # Calculate the MAE for each method
-    mae_kalman, kalman_list = calculate_mae(ideal_pos, kalman_pos)
-    mae_running_avg, running_avg_list = calculate_mae(ideal_pos,
-                                                      running_avg_pos)
-    mae_unfiltered, unfiltered_list = calculate_mae(ideal_pos, unfiltered_pos)
-
-    # Create a new figure
-    fig, ax = plt.subplots()
-
-    # Create a list of all positions
-    pos_mae_list = [kalman_list, running_avg_list, unfiltered_list]
-
-    # Create a box plot with notches
-    boxplot = ax.boxplot(pos_mae_list, notch=True,
-                         labels=['Kalman', 'Running Avg', 'Unfiltered'],
-                         patch_artist=True)
-
-    # fill with colors and put median vals in the boxes
-    colors = ['pink', 'lightblue', 'lightgreen']
-    for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors,
-                                                 boxplot['medians'])):
-        box.set_facecolor(color)
-        median_val = median.get_ydata()[1]
-        ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center',
-                ha='center', backgroundcolor='white')
-
-    # Set the labels
-    ax.set_xlabel('Method')
-    ax.set_ylabel('MAE')
-    ax.set_title('MAE for different methods')
-    ax.yaxis.grid(True)
-
-    # Show the plot
-    plt.show()
-
-
-def plot_CEP(file_name):
-    """
-    Berechnet den Circular Error Probable (CEP) für Positionsdaten.
-
-    Parameters:
-    String: file_name
-
-    Returns:
-    """
-    file_path_x = folder_path_x + file_name
-    file_path_y = folder_path_y + file_name
-
-    # Read the CSV file into a DataFrame
-    df_x = pd.read_csv(file_path_x)
-    df_y = pd.read_csv(file_path_y)
-
-    # rename the columns
-    df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x',
-                    'unfiltered_x', 'kalman_debug_x', 'current_debug_x',
-                    'unfiltered_debug_x']
-    df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y',
-                    'unfiltered_y', 'kalman_debug_y', 'current_debug_y',
-                    'unfiltered_debug_y']
-
-    # Set the first column (time) as the index of the DataFrames
-    df_x.set_index(df_x.columns[0], inplace=True)
-    df_y.set_index(df_y.columns[0], inplace=True)
-
-    # create pos tuples of the x and y data and store them as numpy arrays
-    ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y'])))
-    kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y'])))
-    running_avg_pos = np.array(list(zip(df_x['running_avg_x'],
-                                        df_y['running_avg_y'])))
-    unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'],
-                                       df_y['unfiltered_y'])))
-
-    # create CEP for each method
-    cep_kalman, cep_running_avg, cep_unfiltered = calculate_cep(
-        ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos)
-
-    # plot the cep as error circles of different colors in the x-y plane
-    # Create a new figure
-    fig, ax = plt.subplots()
-
-    # Create circles with the given radii
-    circle_kalman = plt.Circle((0, 0), cep_kalman, fill=False, label='Kalman',
-                               color='r')
-    circle_running_avg = plt.Circle((0, 0), cep_running_avg, fill=False,
-                                    label='Running Avg', color='g')
-    circle_unfiltered = plt.Circle((0, 0), cep_unfiltered, fill=False,
-                                   label='Unfiltered', color='b')
-
-    # Add the circles to the plot
-    ax.add_artist(circle_kalman)
-    ax.add_artist(circle_running_avg)
-    ax.add_artist(circle_unfiltered)
-
-    # Set the limits of the plot to show all circles
-    ax.set_xlim(-max(cep_kalman, cep_running_avg, cep_unfiltered),
-                max(cep_kalman, cep_running_avg, cep_unfiltered))
-    ax.set_ylim(-max(cep_kalman, cep_running_avg, cep_unfiltered),
-                max(cep_kalman, cep_running_avg, cep_unfiltered))
-
-    # Add a legend
-    plt.legend()
-
-    # Add a grid
-    plt.grid(True)
-
-    # Set the y-axis label to 'Distance in Meters'
-    plt.ylabel('Distance in Meters')
-
-    # Set the x-axis label to 'Distance in Meters'
-    plt.xlabel('Distance in Meters')
-
-
-def plot_csv(file_path, type):
-    # Read the CSV file into a DataFrame
-    df = pd.read_csv(file_path)
-
-    # Set the first column (time) as the index of the DataFrame
-    df.set_index(df.columns[0], inplace=True)
-
-    # Select the last three columns along with the index
-    df_to_plot = df[df.columns[-3:-1]]
-
-    # Rename the columns
-    if type == 'x':
-        df_to_plot.columns = ['kalman_x_error', 'current_x_error']
-    elif type == 'y':
-        df_to_plot.columns = ['kalman_y_error', 'current_y_error']
-
-    # Plot the DataFrame
-    df_to_plot.plot()
-
-    # Add a grid
-    plt.grid(True)
-
-    # Set the y-axis label to 'Meters'
-    plt.ylabel('Distance to Ideal in meters')
-
-    # Set the x-axis label to 'Time'
-    plt.xlabel('Time in seconds')
-
-    # Separate the positive and negative vals
-    positive_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0]
-    negative_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0]
-
-    positive_current_error = df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1]
-    negative_current_error = df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1]
-
-    # Calculate the average overshoot into the positive
-    avg_positive_kalman_error = positive_kalman_error.mean()
-    avg_positive_current_error = positive_current_error.mean()
-
-    # Calculate the average overshoot into the negative
-    avg_negative_kalman_error = negative_kalman_error.mean()
-    avg_negative_current_error = negative_current_error.mean()
-
-    # Add a horizontal line at the average val
-    plt.axhline(y=avg_positive_kalman_error, color='b', linestyle='--')
-    plt.axhline(y=avg_negative_kalman_error, color='b', linestyle='--')
-    plt.axhline(y=avg_positive_current_error, color='r', linestyle='--')
-    plt.axhline(y=avg_negative_current_error, color='r', linestyle='--')
-    # plt.axhline(y=avg_kalman_error, color='r', linestyle='--')
-    # plt.axhline(y=avg_current_error, color='b', linestyle='--')
-
-
-def plot_csv_heading(file_path):
-    # Read the CSV file into a DataFrame
-    df = pd.read_csv(file_path)
-
-    # Set the first column (time) as the index of the DataFrame
-    df.set_index(df.columns[0], inplace=True)
-
-    # Select the last two columns along with the index
-    df_to_plot = df[df.columns[-2:-1]]
-
-    # Rename the columns
-    df_to_plot.columns = ['kalman_heading']
-
-    # Plot the DataFrame
-    df_to_plot.plot()
-
-    # Add a grid
-    plt.grid(True)
-
-    # Set the y-axis label to 'Radians'
-    plt.ylabel('Heading in Radians')
-
-    # Set the x-axis label to 'Time'
-    plt.xlabel('Time in seconds')
-
-    # Separate the positive and negative vals
-    positive_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0]
-    negative_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0]
-    # positive_current_heading =
-    # df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1]
-    # negative_current_heading =
-    # df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1]
-
-    # Calculate the average overshoot into the positive
-    avg_positive_k_heading = positive_kalman_heading.mean()
-    # avg_positive_c_heading = positive_current_heading.mean()
-
-    # Calculate the average overshoot into the negative
-    avg_negative_k_heading = negative_kalman_heading.mean()
-    # avg_negative_c_heading = negative_current_heading.mean()
-
-    # Add a horizontal line at the average val
-    plt.axhline(y=avg_positive_k_heading, color='b', linestyle='--')
-    plt.axhline(y=avg_negative_k_heading, color='b', linestyle='--')
-    # plt.axhline(y=avg_positive_c_heading, color='r', linestyle='--')
-    # plt.axhline(y=avg_negative_c_heading, color='r', linestyle='--')
-
-
-def plot_csv_heading2(file_path):
-    # Read the CSV file into a DataFrame
-    df = pd.read_csv(file_path)
-
-    # Set the first column (time) as the index of the DataFrame
-    df.set_index(df.columns[0], inplace=True)
-
-    # Select the first three columns
-    df_to_plot = df[df.columns[:3]]
-
-    # Rename the columns
-    df_to_plot.columns = ['ideal_heading', 'kalman_heading', 'current_heading']
-
-    # Plot the 'kalman_heading' and 'current_heading' columns with default
-    # line style
-    plt.plot(df_to_plot['kalman_heading'], label='kalman_heading')
-    plt.plot(df_to_plot['current_heading'], label='current_heading')
-
-    # Plot the 'ideal_heading' column with a blue dotted line
-    plt.plot(df_to_plot['ideal_heading'], 'r:', label='ideal_heading')
-    # Display the legend
-    plt.legend()
-    # Plot the DataFrame
-    # df_to_plot.plot()
-
-    # Add a grid
-    plt.grid(True)
-
-    # Set the y-axis label to 'Radians'
-    plt.ylabel('Heading in Radians')
-
-    # Set the x-axis label to 'Time'
-    plt.xlabel('Time in seconds')
-# endregion PLOTS
-
-
-# region CALCUATIONS
-def calculate_mae(ideal, estimated):
-    """
-    Calculates the Mean Absolute Error (MAE) for position data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal positions.
-    estimated (numpy.ndarray): The estimated positions.
-
-    Returns:
-    Tuple: A tuple containing the MAE and the error for each position.
-    """
-    # Calculate the errors
-    error = np.linalg.norm(ideal - estimated, axis=1)
-
-    # Calculate the MAE
-    mae = np.mean(error)
-
-    return mae, error
-
-
-def calculate_mae_x_or_y(ideal, estimated):
-    """
-    Calculates the Mean Absolute Error (MAE) for x or y data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal x or y positions.
-    estimated (numpy.ndarray): The estimated x or y positions.
-
-    Returns:
-    Tuple: A tuple containing the MAE and the error for each position.
-    """
-    # Calculate the errors
-    error = np.abs(ideal - estimated)
-
-    # Calculate the MAE
-    mae = np.mean(error)
-
-    return mae, error
-
-
-def calculate_mse(ideal, estimated):
-    """
-    Calculates the Mean Squared Error (MSE) for position data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal positions.
-    estimated (numpy.ndarray): The estimated positions.
-
-    Returns:
-    Tuple: A tuple containing the MSE and the error for each position.
-    """
-    # Calculate the errors
-    error = np.linalg.norm(ideal - estimated, axis=1)**2
-
-    # Calculate the MSE
-    mse = np.mean(error)
-
-    return mse, error
-
-
-def calculate_mse_x_or_y(ideal, estimated):
-    """
-    Calculates the Mean Squared Error (MSE) for x or y data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal x or y positions.
-    estimated (numpy.ndarray): The estimated x or y positions.
-
-    Returns:
-    Tuple: A tuple containing the MSE and the error for each position.
-    """
-    # Calculate the errors
-    error = (ideal - estimated)**2
-
-    # Calculate the MSE
-    mse = np.mean(error)
-
-    return mse, error
-
-
-def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=90):
-    """
-    Calculates the Circular Error Probable (CEP) for position data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal positions.
-    kalman (numpy.ndarray): The positions estimated using Kalman filtering.
-    running_avg (numpy.ndarray): The positions calculated using a running
-        average.
-    unfiltered (numpy.ndarray): The unfiltered positions.
-    percentile (int): The percentile to use when calculating the CEP.
-
-    Returns:
-    tuple: A tuple containing the CEP for each method.
-    """
-    # Calculate the errors
-    error_kalman = np.sqrt(np.sum((kalman - ideal)**2, axis=1))
-    error_running_avg = np.sqrt(np.sum((running_avg - ideal)**2, axis=1))
-    error_unfiltered = np.sqrt(np.sum((unfiltered - ideal)**2, axis=1))
-
-    # Calculate the CEP for each method
-    cep_kalman = np.percentile(error_kalman, percentile)
-    cep_running_avg = np.percentile(error_running_avg, percentile)
-    cep_unfiltered = np.percentile(error_unfiltered, percentile)
-
-    return cep_kalman, cep_running_avg, cep_unfiltered
-
-
-def calculate_RMSPE_x_or_y(ideal, estimated):
-    """
-    Calculates the Root Mean Squared Percentage Error (RMSPE)
-    for x or y data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal x or y positions.
-    estimated (numpy.ndarray): The estimated x or y positions.
-
-    Returns:
-    Tuple: A tuple containing the RMSPE and the error for each position.
-    """
-
-    # Replace zeros in 'ideal' array with a small number to avoid
-    # division by zero
-    ideal_no_zero = np.where(ideal == 0, 1e-10, ideal)
-    # Calculate the errors
-    error = ((ideal_no_zero - estimated) / ideal_no_zero) ** 2
-
-    # Calculate the RMSPE
-    rmspe = np.sqrt(np.mean(error))
-
-    return rmspe, error
-
-
-# TODO macht nicht viel Sinn -> entfernen
-def calculate_RMSPE(ideal, estimated):
-    """
-    Calculates the Root Mean Squared Percentage Error (RMSPE)
-    for position data.
-
-    Parameters:
-    ideal (numpy.ndarray): The ideal positions.
-    estimated (numpy.ndarray): The estimated positions.
-
-    Returns:
-    Tuple: A tuple containing the RMSPE and the error for each position.
-    """
-    # Calculate the errors
-    errors = np.sqrt(np.sum((ideal - estimated)**2, axis=1))
-
-    # Calculate the RMSPE
-    rmspe = np.sqrt(np.mean(errors**2))
-
-    return rmspe, errors
-# endregion CALCUATIONS
-
-
-# plot_csv(file_path_x, 'x')
-# plot_csv(file_path_y, 'y')
-
-
-# plot_csv_heading(file_path_heading)
-# plot_MSE_0()
-
-# plot_best_tuned_file()
-# plot_csv_heading2(file_path_heading)
-# Show the plot
-# plot_best_tuned_file_by_type('x', 'MSE')
-# plot_best_tuned_file_by_type('y', 'MSE')
-# plot_best_tuned_file_by_type('x', 'MAE')
-# plot_best_tuned_file_by_type('y', 'MAE')
-# plot_best_tuned_file_by_type('x', 'RMSPE')
-# plot_best_tuned_file_by_type('y', 'RMSPE')
-
-# plot_x_or_y_notched_box("data_26.csv", type='x', error_type='MSE')
-# plot_x_or_y_notched_box("data_25.csv", type='x', error_type='MSE')
-# plot_x_or_y_notched_box("data_25.csv", type='y', error_type='MSE')
-# plot_x_or_y_notched_box("data_26.csv", type='y', error_type='MSE')
-# # plot_RMSPE_notched_box("data_26.csv")
-# plot_CEP("data_25.csv")
-# plot_CEP("data_26.csv")
-data = "data_50.csv"
-plot_CEP(data)
-plot_x_or_y_notched_box(data, type='x', error_type='MSE')
-plot_x_or_y_notched_box(data, type='x', error_type='MAE')
-# plot_x_or_y_notched_box(data, type='y', error_type='MSE')
-# plot_x_or_y_notched_box(data, type='y', error_type='MAE')
-
-plt.show()
diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_00.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_00.csv
deleted file mode 100644
index 693c0522..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_00.csv
+++ /dev/null
@@ -1,477 +0,0 @@
-Time,. . .
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_01.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_01.csv
deleted file mode 100644
index ddaee87f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_01.csv
+++ /dev/null
@@ -1,487 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_02.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_02.csv
deleted file mode 100644
index 4ff89fbc..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_02.csv
+++ /dev/null
@@ -1,482 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_03.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_03.csv
deleted file mode 100644
index f7b5d860..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_03.csv
+++ /dev/null
@@ -1,457 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_04.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_04.csv
deleted file mode 100644
index 6e956579..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_04.csv
+++ /dev/null
@@ -1,256 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_05.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_05.csv
deleted file mode 100644
index 9ccefcea..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_05.csv
+++ /dev/null
@@ -1,465 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_06.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_06.csv
deleted file mode 100644
index 432110f4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_06.csv
+++ /dev/null
@@ -1,453 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_07.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_07.csv
deleted file mode 100644
index 6ab3ac75..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_07.csv
+++ /dev/null
@@ -1,178 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_08.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_08.csv
deleted file mode 100644
index cfe6940b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_08.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_09.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_09.csv
deleted file mode 100644
index 1110af0e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_09.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_10.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_10.csv
deleted file mode 100644
index 5351f00d..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_10.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_11.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_11.csv
deleted file mode 100644
index 6fcfd348..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_11.csv
+++ /dev/null
@@ -1,786 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_12.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_12.csv
deleted file mode 100644
index 9f885fab..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_12.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_13.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_13.csv
deleted file mode 100644
index 90b00ef5..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_13.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_14.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_14.csv
deleted file mode 100644
index 19ab8393..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_14.csv
+++ /dev/null
@@ -1,319 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_15.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_15.csv
deleted file mode 100644
index b9f8fe98..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_15.csv
+++ /dev/null
@@ -1,378 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_16.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_16.csv
deleted file mode 100644
index fc5ba8a4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_16.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_17.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_17.csv
deleted file mode 100644
index b28a58de..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_17.csv
+++ /dev/null
@@ -1,373 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_18.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_18.csv
deleted file mode 100644
index 49a749c3..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_18.csv
+++ /dev/null
@@ -1,331 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_19.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_19.csv
deleted file mode 100644
index 6743c04f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_19.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_20.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_20.csv
deleted file mode 100644
index aaed964b..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_20.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_21.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_21.csv
deleted file mode 100644
index 31ecbb5c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_21.csv
+++ /dev/null
@@ -1,327 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_22.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_22.csv
deleted file mode 100644
index 37422438..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_22.csv
+++ /dev/null
@@ -1,138 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_23.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_23.csv
deleted file mode 100644
index 6dcf7c35..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_23.csv
+++ /dev/null
@@ -1,381 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_24.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_24.csv
deleted file mode 100644
index 9e5fff13..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_24.csv
+++ /dev/null
@@ -1,389 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_25.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_25.csv
deleted file mode 100644
index 97429a45..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_25.csv
+++ /dev/null
@@ -1,389 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_26.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_26.csv
deleted file mode 100644
index 5d0bee74..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_26.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_27.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_27.csv
deleted file mode 100644
index 3b124115..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_27.csv
+++ /dev/null
@@ -1,387 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_28.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_28.csv
deleted file mode 100644
index f466fc17..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_28.csv
+++ /dev/null
@@ -1,366 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_29.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_29.csv
deleted file mode 100644
index 9c084f02..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_29.csv
+++ /dev/null
@@ -1,360 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_30.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_30.csv
deleted file mode 100644
index 3324613f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_30.csv
+++ /dev/null
@@ -1,387 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_31.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_31.csv
deleted file mode 100644
index 59a15758..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_31.csv
+++ /dev/null
@@ -1,378 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_32.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_32.csv
deleted file mode 100644
index 471bfa40..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_32.csv
+++ /dev/null
@@ -1,387 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv
deleted file mode 100644
index 06ac6527..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_33.csv
+++ /dev/null
@@ -1,316 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_34.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_34.csv
deleted file mode 100644
index 231e4cf8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_34.csv
+++ /dev/null
@@ -1,148 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_35.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_35.csv
deleted file mode 100644
index 05a9e1ec..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_35.csv
+++ /dev/null
@@ -1,179 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_36.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_36.csv
deleted file mode 100644
index 10bec7e7..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_36.csv
+++ /dev/null
@@ -1,199 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_37.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_37.csv
deleted file mode 100644
index 9d0a9332..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_37.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_38.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_38.csv
deleted file mode 100644
index 6a768df2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_38.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_39.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_39.csv
deleted file mode 100644
index 09938c42..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_39.csv
+++ /dev/null
@@ -1,394 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_40.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_40.csv
deleted file mode 100644
index 9b63bddf..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_40.csv
+++ /dev/null
@@ -1,391 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_41.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_41.csv
deleted file mode 100644
index e2808da0..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_41.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_42.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_42.csv
deleted file mode 100644
index 48ae8b39..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_42.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_43.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_43.csv
deleted file mode 100644
index 5f3370e8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_43.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_44.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_44.csv
deleted file mode 100644
index 21404096..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_44.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_45.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_45.csv
deleted file mode 100644
index eaebf913..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_45.csv
+++ /dev/null
@@ -1,402 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_46.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_46.csv
deleted file mode 100644
index 3eb5be67..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_46.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_47.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_47.csv
deleted file mode 100644
index 4160097f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_47.csv
+++ /dev/null
@@ -1,393 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_48.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_48.csv
deleted file mode 100644
index 702f38d1..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_48.csv
+++ /dev/null
@@ -1,398 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_49.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_49.csv
deleted file mode 100644
index 89fff885..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_49.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_50.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_50.csv
deleted file mode 100644
index bd2f49e4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_50.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_51.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_51.csv
deleted file mode 100644
index 2ba4018c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_51.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_52.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_52.csv
deleted file mode 100644
index d0ad13d9..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_52.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_53.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_53.csv
deleted file mode 100644
index 9b67775c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_53.csv
+++ /dev/null
@@ -1,400 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_54.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_54.csv
deleted file mode 100644
index 25d68c87..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_54.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_55.csv b/code/perception/src/00_Experiments/kalman_datasets/x_error/data_55.csv
deleted file mode 100644
index 4b0179a9..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/x_error/data_55.csv
+++ /dev/null
@@ -1,398 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_00.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_00.csv
deleted file mode 100644
index e3dff706..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_00.csv
+++ /dev/null
@@ -1,477 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_01.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_01.csv
deleted file mode 100644
index 7cbccdb5..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_01.csv
+++ /dev/null
@@ -1,487 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_02.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_02.csv
deleted file mode 100644
index ee8f076e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_02.csv
+++ /dev/null
@@ -1,482 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_03.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_03.csv
deleted file mode 100644
index a544aea2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_03.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_04.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_04.csv
deleted file mode 100644
index 2bbc76c2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_04.csv
+++ /dev/null
@@ -1,256 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_05.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_05.csv
deleted file mode 100644
index 5a493d5f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_05.csv
+++ /dev/null
@@ -1,465 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_06.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_06.csv
deleted file mode 100644
index 444e805e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_06.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_07.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_07.csv
deleted file mode 100644
index 94e69d44..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_07.csv
+++ /dev/null
@@ -1,178 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_08.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_08.csv
deleted file mode 100644
index e320f645..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_08.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_09.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_09.csv
deleted file mode 100644
index 1bc2c3da..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_09.csv
+++ /dev/null
@@ -1,795 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_10.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_10.csv
deleted file mode 100644
index ff287a84..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_10.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_11.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_11.csv
deleted file mode 100644
index 7bd8642e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_11.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_12.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_12.csv
deleted file mode 100644
index 252a8b5c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_12.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_13.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_13.csv
deleted file mode 100644
index 3899953c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_13.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_14.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_14.csv
deleted file mode 100644
index 5d1f57c4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_14.csv
+++ /dev/null
@@ -1,319 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_15.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_15.csv
deleted file mode 100644
index 003368dd..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_15.csv
+++ /dev/null
@@ -1,378 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_16.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_16.csv
deleted file mode 100644
index 3e7126f8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_16.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_17.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_17.csv
deleted file mode 100644
index ce23834f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_17.csv
+++ /dev/null
@@ -1,373 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_18.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_18.csv
deleted file mode 100644
index c2ba9de1..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_18.csv
+++ /dev/null
@@ -1,331 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_19.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_19.csv
deleted file mode 100644
index fcbb2a5f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_19.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_20.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_20.csv
deleted file mode 100644
index 15b78494..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_20.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_21.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_21.csv
deleted file mode 100644
index 97e2f4e2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_21.csv
+++ /dev/null
@@ -1,327 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_22.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_22.csv
deleted file mode 100644
index bbbf9c21..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_22.csv
+++ /dev/null
@@ -1,138 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_23.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_23.csv
deleted file mode 100644
index b0764417..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_23.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_24.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_24.csv
deleted file mode 100644
index 081e8722..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_24.csv
+++ /dev/null
@@ -1,389 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_25.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_25.csv
deleted file mode 100644
index cae9558f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_25.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_26.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_26.csv
deleted file mode 100644
index 0c5a4de1..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_26.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_27.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_27.csv
deleted file mode 100644
index 59050257..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_27.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_28.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_28.csv
deleted file mode 100644
index 465fa399..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_28.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_29.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_29.csv
deleted file mode 100644
index 351f1da7..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_29.csv
+++ /dev/null
@@ -1,360 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_30.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_30.csv
deleted file mode 100644
index 334d0878..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_30.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_31.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_31.csv
deleted file mode 100644
index 5c913de4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_31.csv
+++ /dev/null
@@ -1,378 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_32.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_32.csv
deleted file mode 100644
index 184d97ed..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_32.csv
+++ /dev/null
@@ -1,387 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_33.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_33.csv
deleted file mode 100644
index b8b15ee7..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_33.csv
+++ /dev/null
@@ -1,457 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_34.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_34.csv
deleted file mode 100644
index f582b600..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_34.csv
+++ /dev/null
@@ -1,459 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_35.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_35.csv
deleted file mode 100644
index ac2aa77c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_35.csv
+++ /dev/null
@@ -1,200 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_36.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_36.csv
deleted file mode 100644
index b365278c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_36.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_37.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_37.csv
deleted file mode 100644
index 4f61c9d8..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_37.csv
+++ /dev/null
@@ -1,394 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_38.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_38.csv
deleted file mode 100644
index a197ae32..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_38.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_39.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_39.csv
deleted file mode 100644
index 6edc3e8c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_39.csv
+++ /dev/null
@@ -1,394 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_40.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_40.csv
deleted file mode 100644
index f564efd4..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_40.csv
+++ /dev/null
@@ -1,391 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_41.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_41.csv
deleted file mode 100644
index d0d57e42..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_41.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_42.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_42.csv
deleted file mode 100644
index fcbb9461..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_42.csv
+++ /dev/null
@@ -1,397 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_43.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_43.csv
deleted file mode 100644
index 6a2672c2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_43.csv
+++ /dev/null
@@ -1,376 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_44.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_44.csv
deleted file mode 100644
index f2da0720..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_44.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_45.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_45.csv
deleted file mode 100644
index 45de8b68..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_45.csv
+++ /dev/null
@@ -1,402 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_46.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_46.csv
deleted file mode 100644
index 79fb530a..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_46.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_47.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_47.csv
deleted file mode 100644
index c995ef5e..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_47.csv
+++ /dev/null
@@ -1,393 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_48.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_48.csv
deleted file mode 100644
index fe2519ed..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_48.csv
+++ /dev/null
@@ -1,398 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_49.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_49.csv
deleted file mode 100644
index 62648d7f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_49.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_50.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_50.csv
deleted file mode 100644
index f802b394..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_50.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_51.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_51.csv
deleted file mode 100644
index 9681e67f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_51.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_52.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_52.csv
deleted file mode 100644
index 5418ceaa..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_52.csv
+++ /dev/null
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_53.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_53.csv
deleted file mode 100644
index a4f6792c..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_53.csv
+++ /dev/null
@@ -1,400 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_54.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_54.csv
deleted file mode 100644
index 8d40294f..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_54.csv
+++ /dev/null
@@ -1,396 +0,0 @@
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diff --git a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_55.csv b/code/perception/src/00_Experiments/kalman_datasets/y_error/data_55.csv
deleted file mode 100644
index 783758d2..00000000
--- a/code/perception/src/00_Experiments/kalman_datasets/y_error/data_55.csv
+++ /dev/null
@@ -1,398 +0,0 @@
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diff --git a/code/perception/src/position_heading_filter_debug_node.py b/code/perception/src/position_heading_filter_debug_node.py
new file mode 100644
index 00000000..5b11171d
--- /dev/null
+++ b/code/perception/src/position_heading_filter_debug_node.py
@@ -0,0 +1,568 @@
+#!/usr/bin/env python
+
+"""
+This node publishes all relevant topics for the ekf node.
+"""
+import os
+import csv
+import math
+import ros_compatibility as roscomp
+from ros_compatibility.node import CompatibleNode
+from geometry_msgs.msg import PoseStamped
+from std_msgs.msg import Float32
+# from tf.transformations import euler_from_quaternion
+from std_msgs.msg import Float32MultiArray
+import rospy
+import threading
+import carla
+
+GPS_RUNNING_AVG_ARGS: int = 10
+DATA_SAVING_MAX_TIME: int = 45
+FOLDER_PATH: str = "Position_Heading_Datasets"
+
+
+class position_heading_filter_debug_node(CompatibleNode):
+    """
+    Node publishes a filtered gps signal.
+    This is achieved using a rolling average.
+    """
+    def __init__(self):
+        """
+        Constructor / Setup
+        :return:
+        """
+
+        super(position_heading_filter_debug_node, self).__init__(
+            'position_heading_filter_debug_node')
+
+        # basic info
+        self.role_name = self.get_param("role_name", "hero")
+        self.control_loop_rate = self.get_param("control_loop_rate", "0.05")
+
+        # carla attributes
+        CARLA_HOST = os.environ.get('CARLA_HOST', 'paf23-carla-simulator-1')
+        CARLA_PORT = int(os.environ.get('CARLA_PORT', '2000'))
+        self.client = carla.Client(CARLA_HOST, CARLA_PORT)
+        self.world = self.client.get_world()
+        self.world.wait_for_tick()
+        self.carla_car = None
+
+        self.set_carla_attributes()
+
+        # Tracked Attributes for Debugging
+        self.current_pos = PoseStamped()
+        self.current_heading = Float32()
+        self.carla_current_pos = PoseStamped()
+        self.unfiltered_pos = PoseStamped()
+        self.unfiltered_heading = Float32()
+
+        self.position_debug_data = Float32MultiArray()
+        self.heading_debug_data = Float32MultiArray()
+
+        # test_filter attributes for any new filter to be tested
+        # default is kalman filter
+        self.test_filter_pos = PoseStamped()
+        self.test_filter_heading = Float32()
+
+        # csv file attributes/ flags for plots
+        self.csv_x_created = False
+        self.csv_file_path_x = ''
+        self.csv_y_created = False
+        self.csv_file_path_y = ''
+        self.csv_heading_created = False
+        self.csv_file_path_heading = ''
+
+        self.loginfo("Position Heading Filter Debug node started")
+
+        # region Subscriber START
+
+        # Current_pos subscriber:
+        self.current_pos_subscriber = self.new_subscription(
+            PoseStamped,
+            f"/paf/{self.role_name}/current_pos",
+            self.set_current_pos,
+            qos_profile=1)
+
+        # Current_heading subscriber:
+        self.current_heading_subscriber = self.new_subscription(
+            Float32,
+            f"/paf/{self.role_name}/current_heading",
+            self.set_current_heading,
+            qos_profile=1)
+
+        # test_filter_pos subscriber:
+        self.test_filter_pos_subscriber = self.new_subscription(
+            PoseStamped,
+            f"/paf/{self.role_name}/kalman_pos",
+            self.set_test_filter_pos,
+            qos_profile=1)
+        # test_filter_heading subscriber:
+        self.test_filter_heading_subscriber = self.new_subscription(
+            Float32,
+            f"/paf/{self.role_name}/kalman_heading",
+            self.set_test_filter_heading,
+            qos_profile=1)
+
+        # Unfiltered_pos subscriber:
+        self.unfiltered_pos_subscriber = self.new_subscription(
+            PoseStamped,
+            f"/paf/{self.role_name}/unfiltered_pos",
+            self.set_unfiltered_pos,
+            qos_profile=1)
+        # Unfiltered_heading subscriber:
+        self.unfiltered_heading_subscriber = self.new_subscription(
+            Float32,
+            f"/paf/{self.role_name}/unfiltered_heading",
+            self.set_unfiltered_heading,
+            qos_profile=1)
+
+        # endregion Subscriber END
+
+        # region Publisher START
+
+        # ideal carla publisher for easier debug with rqt_plot
+        self.carla_heading_publisher = self.new_publisher(
+            Float32,
+            f"/paf/{self.role_name}/carla_current_heading",
+            qos_profile=1)
+
+        self.carla_pos_publisher = self.new_publisher(
+            PoseStamped,
+            f"/paf/{self.role_name}/carla_current_pos",
+            qos_profile=1)
+
+        # Error Publisher
+        self.position_debug_publisher = self.new_publisher(
+            Float32MultiArray,
+            f"/paf/{self.role_name}/position_debug",
+            qos_profile=1)
+        self.heading_debug_publisher = self.new_publisher(
+            Float32MultiArray,
+            f"/paf/{self.role_name}/heading_debug",
+            qos_profile=1)
+
+        # endregion Publisher END
+
+    # region Subscriber Callbacks
+    def set_unfiltered_pos(self, data: PoseStamped):
+        """
+        This method is called when new unfiltered_pos data is received.
+        """
+        self.unfiltered_pos = data
+
+    def set_current_pos(self, data: PoseStamped):
+        """
+        This method is called when new current_pos data is received.
+        """
+        self.current_pos = data
+
+    def set_current_heading(self, data: Float32):
+        """
+        This method is called when new current_heading data is received.
+        """
+        self.current_heading = data
+
+    def set_test_filter_pos(self, data: PoseStamped):
+        """
+        This method is called when new test_filter_pos data is received.
+        """
+        self.test_filter_pos = data
+
+    def set_test_filter_heading(self, data: Float32):
+        """
+        This method is called when new test_filter_heading data is received.
+        """
+        self.test_filter_heading = data
+
+    # endregion Subscriber Callbacks
+
+    # region CSV data save methods
+    # main saving method for position data
+    def save_position_data(self):
+        """
+        This method saves the current location errors in a csv file.
+        in the folders of
+        paf23/doc/06_perception/00_Experiments/kalman_datasets
+        It does this for a limited amount of time.
+        """
+        # stop saving data when max is reached
+        if rospy.get_time() > DATA_SAVING_MAX_TIME:
+            self.logwarn("STOPPED SAVING LOCATION DATA")
+            return
+
+        # Specify the path to the folder where you want to save the data
+        base_path = ('/workspace/code/perception/'
+                     'src/00_Experiments/' + FOLDER_PATH)
+        folder_path_x = base_path + 'x_error'
+        folder_path_y = base_path + 'y_error'
+        # Ensure the directories exist
+        os.makedirs(folder_path_x, exist_ok=True)
+        os.makedirs(folder_path_y, exist_ok=True)
+
+        # Create the csv files ONCE if it does not exist
+        if self.csv_x_created is False:
+            self.csv_file_path_x = create_file(folder_path_x)
+            self.csv_x_created = True
+        if self.csv_y_created is False:
+            self.csv_file_path_y = create_file(folder_path_y)
+            self.csv_y_created = True
+
+        self.write_csv_x()
+        self.write_csv_y()
+
+    # main saving method for heading data
+    def save_heading_data(self):
+        """
+        This method saves the current heading errors in a csv file.
+        in the folders of
+        paf23/doc/06_perception/00_Experiments/kalman_datasets
+        It does this for a limited amount of time.
+        """
+        # if rospy.get_time() > 45 stop saving data:
+        if rospy.get_time() > DATA_SAVING_MAX_TIME:
+            self.logwarn("STOPPED SAVING HEADING DATA")
+            return
+
+        # Specify the path to the folder where you want to save the data
+        base_path = ('/workspace/code/perception/'
+                     'src/00_Experiments' + FOLDER_PATH)
+        folder_path_heading = base_path + 'heading_error'
+
+        # Ensure the directories exist
+        os.makedirs(folder_path_heading, exist_ok=True)
+
+        # Create the csv file ONCE if it does not exist
+        if self.csv_heading_created is False:
+            self.csv_file_path_heading = create_file(folder_path_heading)
+            self.csv_heading_created = True
+
+        # Save the data into the csv file
+        self.write_csv_heading()
+
+    # helper methods for writing into csv files
+    def write_csv_heading(self):
+        with open(self.csv_file_path_heading, 'a', newline='') as file:
+            writer = csv.writer(file)
+            # Check if file is empty
+            if os.stat(self.csv_file_path_heading).st_size == 0:
+                writer.writerow([
+                    "Time",
+                    "Unfiltered",
+                    "Ideal(Carla)",
+                    "Current",
+                    "Test Filter",
+                    "Unfiltered Error",
+                    "Current Error"
+                    "Test Filter Error",
+                ])
+            writer.writerow([rospy.get_time(),
+                             self.unfiltered_heading.data,
+                             self.carla_current_heading,
+                             self.current_heading.data,
+                             self.test_filter_heading.data,
+                             self.heading_debug_data.data[0],
+                             self.heading_debug_data.data[1],
+                             self.heading_debug_data.data[2]
+                             ])
+
+    def write_csv_x(self):
+        with open(self.csv_file_path_x, 'a', newline='') as file:
+            writer = csv.writer(file)
+            # Check if file is empty and add first row
+            if os.stat(self.csv_file_path_x).st_size == 0:
+                writer.writerow([
+                    "Time",
+                    "Unfiltered X",
+                    "Ideal (Carla) X",
+                    "Current X",
+                    "Test Filter X",
+                    "Unfiltered X Error",
+                    "Current X Error",
+                    "Test Filter X Error"
+                ])
+            writer.writerow([
+                rospy.get_time(),
+                self.unfiltered_pos.pose.position.x,
+                self.carla_current_pos.x,
+                self.current_pos.pose.position.x,
+                self.test_filter_pos.pose.position.x,
+                self.position_debug_data.data[8],
+                self.position_debug_data.data[11],
+                self.position_debug_data.data[14]
+                ])
+
+    def write_csv_y(self):
+        with open(self.csv_file_path_y, 'a', newline='') as file:
+            writer = csv.writer(file)
+            # Check if file is empty and add first row
+            if os.stat(self.csv_file_path_y).st_size == 0:
+                writer.writerow([
+                    "Time",
+                    "Unfiltered Y",
+                    "Ideal (Carla) Y",
+                    "Current Y",
+                    "Test Filter Y",
+                    "Unfiltered Y Error",
+                    "Current Y Error",
+                    "Test Filter Y Error"
+                ])
+            writer.writerow([
+                rospy.get_time(),
+                self.unfiltered_pos.pose.position.y,
+                self.carla_current_pos.y,
+                self.current_pos.pose.position.y,
+                self.test_filter_pos.pose.position.y,
+                self.position_debug_data.data[9],
+                self.position_debug_data.data[12],
+                self.position_debug_data.data[15]
+                ])
+
+    # endregion CSV data save methods
+
+    def set_carla_attributes(self):
+        """
+        This method sets the carla attributes.
+        """
+        for actor in self.world.get_actors():
+            if actor.attributes.get('role_name') == "hero":
+                self.carla_car = actor
+                break
+        if self.carla_car is None:
+            self.logwarn("Carla Hero car still none!")
+            return
+        else:
+            self.carla_current_pos = self.carla_car.get_location()
+            self.carla_current_heading = (
+                                        self.carla_car.get_transform()
+                                        .rotation.yaw
+                                        )
+
+    def position_debug(self):
+        """
+        This method is called every loop_rate.
+
+        It publishes and saves:
+        unfiltered_pos.x,
+        unfiltered_pos.y,
+        carla_current_pos.x,
+        carla_current_pos.y,
+        current_pos.x,
+        current_pos.y,
+        test_filter_pos.x
+        test_filter_pos.y
+
+        It publishes and saves error distances between:
+        carla_current_pos.x and unfiltered_pos.x,
+        carla_current_pos.y and unfiltered_pos.y
+        carla_current_pos.x and current_pos.x,
+        carla_current_pos.y and current_pos.y
+        carla_current_pos.x and test_filter_pos.x,
+        carla_current_pos.y and test_filter_pos.y
+        carla_current_pos and test_filter_pos
+
+        # unfiltered_pos.x in debug.data[0]
+        # unfiltered_pos.y in debug.data[1]
+        # carla_current_pos.x in debug.data[2]
+        # carla_current_pos.y in debug.data[3]
+        # current_pos.x in debug.data[4]
+        # current_pos.y in debug.data[5]
+        # test_filter_pos.x in debug.data[6]
+        # test_filter_pos.y in debug.data[7]
+
+        # carla_current_pos.x - unfiltered_pos.x in debug.data[8]
+        # carla_current_pos.y - unfiltered_pos.y in debug.data[9]
+        # sqrt[(carla_current_pos - unfiltered_pos)^2] in debug.data[10]
+
+        # carla_current_pos.x - current_pos.x in debug.data[11]
+        # carla_current_pos.y - current_pos.y in debug.data[12]
+        # sqrt[(carla_current_pos - current_pos)^2] in debug.data[13]
+
+        # carla_current_pos.x - test_filter_pos.x in debug.data[14]
+        # carla_current_pos.y - test_filter_pos.y in debug.data[15]
+        # sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[16]
+        """
+
+        if self.carla_car is None:
+            self.logwarn("""Carla Hero car still none!
+                         Can not record data for position_debug yet.""")
+            return
+
+        debug = Float32MultiArray()
+
+        debug.data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+
+        # all x and y coordinates
+        debug.data[0] = self.unfiltered_pos.pose.position.x
+        debug.data[1] = self.unfiltered_pos.pose.position.y
+        debug.data[2] = self.carla_current_pos.x
+        debug.data[3] = self.carla_current_pos.y
+        debug.data[4] = self.current_pos.pose.position.x
+        debug.data[5] = self.current_pos.pose.position.y
+        debug.data[6] = self.test_filter_pos.pose.position.x
+        debug.data[7] = self.test_filter_pos.pose.position.y
+
+        # error between carla_current_pos and unfiltered_pos
+        debug.data[8] = (self.carla_current_pos.x
+                         - self.unfiltered_pos.pose.position.x)
+        debug.data[9] = (self.carla_current_pos.y
+                         - self.unfiltered_pos.pose.position.y)
+        debug.data[10] = math.sqrt((self.carla_current_pos.x
+                                   - self.unfiltered_pos.pose.position.x)**2
+                                   + (self.carla_current_pos.y
+                                   - self.unfiltered_pos.pose.position.y)**2)
+
+        # error between carla_current_pos and current_pos
+        debug.data[11] = (self.carla_current_pos.x
+                          - self.current_pos.pose.position.x)
+        debug.data[12] = (self.carla_current_pos.y
+                          - self.current_pos.pose.position.y)
+        debug.data[13] = math.sqrt((self.carla_current_pos.x
+                                   - self.current_pos.pose.position.x)**2
+                                   + (self.carla_current_pos.y
+                                   - self.current_pos.pose.position.y)**2)
+
+        # error between carla_current_pos and test_filter_pos
+        debug.data[14] = (self.carla_current_pos.x
+                          - self.test_filter_pos.pose.position.x)
+        debug.data[15] = (self.carla_current_pos.y
+                          - self.test_filter_pos.pose.position.y)
+        debug.data[16] = math.sqrt((self.carla_current_pos.x
+                                   - self.test_filter_pos.pose.position.x)**2
+                                   + (self.carla_current_pos.y
+                                   - self.test_filter_pos.pose.position.y)**2)
+
+        self.position_debug_data = debug
+        self.position_debug_publisher.publish(debug)
+        # for easier debugging with rqt_plot
+        self.carla_pos_publisher.publish(self.carla_current_pos)
+
+    def heading_debug(self):
+        """
+        This method is called every loop_rate.
+        It publishes and saves:
+        unfiltered_heading,
+        carla_current_heading,
+        current_heading,
+        test_filter_heading
+
+        It also publishes and saves heading differences between:
+        carla_current_heading and unfiltered_heading,
+        carla_current_heading and current_heading,
+        carla_current_heading and test_filter_heading
+        to make filters comparable.
+
+        # unfiltered_heading in debug.data[0]
+        # carla_current_heading in debug.data[1]
+        # current_heading in debug.data[2]
+        # test_filter_heading in debug.data[3]
+        # carla_current_heading - unfiltered_heading in debug.data[4]
+        # carla_current_heading - current_heading in debug.data[5]
+        # carla_current_heading - test_filter_heading in debug.data[6]
+        """
+
+        if self.carla_car is None:
+            self.logwarn("""Carla Hero car still none!
+                         Can not record data for heading_debug yet.""")
+            return
+
+        debug = Float32MultiArray()
+
+        debug.data = [0, 0, 0, 0, 0, 0, 0, 0]
+
+        # all heading values
+        debug.data[0] = self.unfiltered_heading.data
+        debug.data[1] = self.carla_current_heading
+        debug.data[2] = self.current_heading.data
+        debug.data[3] = self.test_filter_heading.data
+
+        # error between carla_current_heading and unfiltered_heading
+        debug.data[4] = (self.carla_current_heading
+                         - self.unfiltered_heading.data)
+
+        # error between carla_current_heading and current_heading
+        debug.data[5] = (self.carla_current_heading
+                         - self.current_heading.data)
+
+        # error between carla_current_heading and test_filter_heading
+        debug.data[6] = (self.carla_current_heading
+                         - self.test_filter_heading.data)
+
+        self.heading_debug_data = debug
+        self.heading_debug_publisher.publish(debug)
+
+        # for easier debugging with rqt_plot
+        self.carla_heading_publisher.publish(self.carla_current_heading)
+
+    # Main method of the node
+    def run(self):
+        """
+        Main loop of the node:
+        - updates carla attributes
+        - publishes position_debug and heading_debug
+        - saves position and heading errors in csv files (if uncommented)
+        :return:
+        """
+        def loop():
+            """
+            Loop for the data gathering
+            """
+            while True:
+                # update carla attributes
+                self.set_carla_attributes()
+
+                # if carla_car still not found -> skip
+                if self.carla_car is None:
+                    self.logwarn("""Carla Hero car still none!
+                                 Can not record data for debug yet.""")
+                    continue
+
+                # update & publish pos debug and heading debug
+                self.position_debug()
+                self.heading_debug()
+
+                # save debug data in csv files
+                # (uncomment if not needed -> solely debugging with rqt_plot)
+                self.save_position_data()
+                self.save_heading_data()
+
+                rospy.sleep(self.control_loop_rate)
+
+        threading.Thread(target=loop).start()
+        self.spin()
+
+
+def create_file(folder_path):
+    '''
+    This function creates a new csv file in the folder_path
+    in correct sequence looking like data_00.csv, data_01.csv, ...
+    and returns the path to the file.
+    '''
+    i = 0
+    while True:
+        file_path = f'{folder_path}/data_{str(i).zfill(2)}.csv'
+        if not os.path.exists(file_path):
+            with open(file_path, 'w', newline=''):
+                pass
+            return file_path
+        i += 1
+
+
+def main(args=None):
+    """
+    main function
+    :param args:
+    :return:
+    """
+
+    roscomp.init("position_heading_publisher_node_2", args=args)
+    try:
+        node = position_heading_filter_debug_node()
+        node.run()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        roscomp.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py
deleted file mode 100755
index b43b240f..00000000
--- a/code/perception/src/sensor_filter_debug.py
+++ /dev/null
@@ -1,639 +0,0 @@
-#!/usr/bin/env python
-
-"""
-This node publishes all relevant topics for the ekf node.
-"""
-import os
-import csv
-import math
-import numpy as np
-import ros_compatibility as roscomp
-from ros_compatibility.node import CompatibleNode
-from geometry_msgs.msg import PoseStamped
-from sensor_msgs.msg import NavSatFix, Imu
-from nav_msgs.msg import Odometry
-from std_msgs.msg import Float32, String
-from coordinate_transformation import CoordinateTransformer
-from coordinate_transformation import quat_to_heading
-# from tf.transformations import euler_from_quaternion
-from std_msgs.msg import Float32MultiArray
-from xml.etree import ElementTree as eTree
-import rospy
-
-
-GPS_RUNNING_AVG_ARGS: int = 10
-DATA_SAVING_MAX_TIME: int = 45
-
-
-class SensorFilterDebugNode(CompatibleNode):
-    """
-    Node publishes a filtered gps signal.
-    This is achieved using a rolling average.
-    """
-    def __init__(self):
-        """
-        Constructor / Setup
-        :return:
-        """
-
-        super(SensorFilterDebugNode, self).__init__('ekf_translation')
-
-        self.loginfo("Sensor Filter Debug node started")
-
-        self.kalman_pos = PoseStamped()
-        self.kalman_pos_debug_data = Float32MultiArray()
-        self.kalman_heading = Float32()
-        self.kalman_heading_debug_data = Float32()
-        self.current_pos = PoseStamped()
-        self.current_pos_debug_data = Float32MultiArray()
-        self.current_heading = Float32()
-        self.current_heading_debug_data = Float32()
-        self.ideal_current_pos = PoseStamped()
-        self.carla_current_pos = PoseStamped()
-        self.ideal_heading = Float32()
-        self.unfiltered_pos = PoseStamped()
-        self.unfiltered_pos_debug_data = Float32MultiArray()
-
-        # csv file attributes
-        self.csv_x_created = False
-        self.csv_file_path_x = ''
-        self.csv_y_created = False
-        self.csv_file_path_y = ''
-        self.csv_heading_created = False
-        self.csv_file_path_heading = ''
-
-        self.loginfo("position_heading_publisher_node started")
-
-        # basic info
-        self.role_name = self.get_param("role_name", "hero")
-        self.control_loop_rate = self.get_param("control_loop_rate", "0.05")
-
-        self.transformer = None
-
-    # Subscriber START
-        self.map_sub = self.new_subscription(
-            String,
-            "/carla/" + self.role_name + "/OpenDRIVE",
-            self.get_geoRef,
-            qos_profile=1)
-
-        self.imu_subscriber = self.new_subscription(
-            Imu,
-            "/carla/" + self.role_name + "/Ideal_IMU",
-            self.update_imu_data,
-            qos_profile=1)
-
-        self.gps_subscriber = self.new_subscription(
-            NavSatFix,
-            "/carla/" + self.role_name + "/Ideal_GPS",
-            self.update_gps_data,
-            qos_profile=1)
-
-        # Current_pos subscriber:
-        self.current_pos_subscriber = self.new_subscription(
-            PoseStamped,
-            f"/paf/{self.role_name}/current_pos",
-            self.update_location_error,
-            qos_profile=1)
-
-        # Current_heading subscriber:
-        self.current_heading_subscriber = self.new_subscription(
-            Float32,
-            f"/paf/{self.role_name}/current_heading",
-            self.update_heading_error,
-            qos_profile=1)
-
-        # Kalman_pos subscriber:
-        self.kalman_pos_subscriber = self.new_subscription(
-            PoseStamped,
-            f"/paf/{self.role_name}/kalman_pos",
-            self.kalman_pos_debug,
-            qos_profile=1)
-        self.kalman_heading_subscriber = self.new_subscription(
-            Float32,
-            f"/paf/{self.role_name}/kalman_heading",
-            self.kalman_heading_debug,
-            qos_profile=1)
-
-        # Unfiltered_pos subscriber:
-        self.unfiltered_pos_subscriber = self.new_subscription(
-            PoseStamped,
-            f"/paf/{self.role_name}/unfiltered_pos",
-            self.unfiltered_pos_debug,
-            qos_profile=1)
-
-    # Subscriber END
-
-    # Publisher START
-        # 2D Odometry (Maybe Speedometer?)
-        self.ekf_odom_publisher = self.new_publisher(
-            Odometry,
-            "/ideal_odom",
-            qos_profile=1)
-
-        # IMU
-        self.ekf_imu_publisher = self.new_publisher(
-            Imu,
-            "/ideal_imu_data",
-            qos_profile=1)
-
-        self.avg_xyz = np.zeros((GPS_RUNNING_AVG_ARGS, 3))
-        self.avg_gps_counter: int = 0
-        # 3D Odometry (GPS)
-        self.cur_pos_publisher = self.new_publisher(
-            PoseStamped,
-            f"/paf/{self.role_name}/ideal_current_pos",
-            qos_profile=1)
-
-        self.__heading: float = 0
-        self.__heading_publisher = self.new_publisher(
-            Float32,
-            f"/paf/{self.role_name}/ideal_current_heading",
-            qos_profile=1)
-
-        # Publish the carla location
-        self.carla_pos_publisher = self.new_publisher(
-            PoseStamped,
-            f"/paf/{self.role_name}/carla_current_pos",
-            qos_profile=1)
-
-        # Error Publisher
-        """publish error distance between
-            current_pos and ideal_corrent_pos,
-            current_pos and carla_current_pos:
-            # current_pos and ideal_corrent_pos in location_error[0]
-            # current_pos and carla_current_pos in location_error[1]
-        """
-        self.location_error_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/location_error",
-            qos_profile=1)
-        # publish the error between current_heading and ideal_heading
-        self.heading_error_publisher = self.new_publisher(
-            Float32,
-            f"/paf/{self.role_name}/heading_error",
-            qos_profile=1)
-
-        # Publish x and y coordinates of ideal_GPS and carla_pos
-        self.ideal_x_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/ideal_x",
-            qos_profile=1)
-        self.ideal_y_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/ideal_y",
-            qos_profile=1)
-
-        # Kalman Debug Publisher
-        self.kalman_debug_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/kalman_debug",
-            qos_profile=1)
-        # Current_pos Debug Publisher
-        self.current_pos_debug_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/current_pos_debug",
-            qos_profile=1)
-        # Unfiltered_pos Debug Publisher
-        self.unfiltered_pos_debug_publisher = self.new_publisher(
-            Float32MultiArray,
-            f"/paf/{self.role_name}/unfiltered_pos_debug",
-            qos_profile=1)
-
-    # Publisher END
-
-    def unfiltered_pos_debug(self, data: PoseStamped):
-        """
-        This method is called when new unfiltered_pos data is received.
-        It also publishes error distances between
-        unfiltered_pos.x and ideal_pos.x,
-        unfiltered_pos.y and ideal_pos.y
-        unfiltered_pos and ideal_pos:
-        # unfiltered_pos and ideal_pos.x in debug.data[0]
-        # unfiltered_pos and ideal_pos.y in debug.data[1]
-        # unfiltered_pos and ideal_pos in debug.data[2]
-        """
-        self.unfiltered_pos = data
-        debug = Float32MultiArray()
-
-        debug.data = [0, 0, 0]
-        debug.data[0] = (self.ideal_current_pos.pose.position.x -
-                         self.unfiltered_pos.pose.position.x)
-        debug.data[1] = (self.ideal_current_pos.pose.position.y -
-                         self.unfiltered_pos.pose.position.y)
-        debug.data[2] = math.sqrt((
-            self.unfiltered_pos.pose.position.x -
-            self.ideal_current_pos.pose.position.x)**2
-            + (self.unfiltered_pos.pose.position.y -
-                self.ideal_current_pos.pose.position.y)**2)
-
-        self.unfiltered_pos_debug_data = debug
-        self.unfiltered_pos_debug_publisher.publish(debug)
-
-    def current_pos_debug(self):
-        """
-        This method is called when new current_pos data is received.
-        It also publishes error distances between
-        current_pos.x and ideal_pos.x,
-        current_pos.y and ideal_pos.y
-        current_pos and ideal_pos:
-        # current_pos and ideal_pos.x in debug.data[0]
-        # current_pos and ideal_pos.y in debug.data[1]
-        # current_pos and ideal_pos in debug.data[2]
-        """
-        debug = Float32MultiArray()
-
-        debug.data = [0, 0, 0]
-        debug.data[0] = (self.ideal_current_pos.pose.position.x -
-                         self.current_pos.pose.position.x)
-        debug.data[1] = (self.ideal_current_pos.pose.position.y -
-                         self.current_pos.pose.position.y)
-        debug.data[2] = math.sqrt((
-            self.current_pos.pose.position.x -
-            self.ideal_current_pos.pose.position.x)**2
-            + (self.current_pos.pose.position.y -
-                self.ideal_current_pos.pose.position.y)**2)
-
-        self.current_pos_debug_data = debug
-        self.current_pos_debug_publisher.publish(debug)
-
-    def kalman_heading_debug(self, data: Float32):
-        """
-        This method is called when new kalman_heading data is received.
-        """
-        self.kalman_heading = data
-        self.loginfo("kalman_heading: " + str(data))
-        debug = Float32()
-
-        debug.data = self.ideal_heading.data - data.data
-
-        self.kalman_heading_debug_data = debug
-        self.save_heading_errors()
-        # self.kalman_debug_publisher.publish(debug)
-
-    def kalman_pos_debug(self, data: PoseStamped):
-        """
-        This method is called when new kalman_pos data is received.
-        It also publishes error distances between
-        kalman_pos.x and ideal_pos.x,
-        kalman_pos.y and ideal_pos.y,
-        kalman_pos and ideal_pos:
-        # kalman_pos.x and ideal_pos.x in debug.data[0]
-        # kalman_pos.y and ideal_pos.y in debug.data[1]
-        # kalman_pos and ideal_pos in debug.data[2]
-        """
-        self.kalman_pos = data
-        debug = Float32MultiArray()
-
-        debug.data = [0, 0, 0]
-        debug.data[0] = (self.ideal_current_pos.pose.position.x
-                         - self.kalman_pos.pose.position.x)
-        debug.data[1] = (self.ideal_current_pos.pose.position.y
-                         - self.kalman_pos.pose.position.y)
-        debug.data[2] = math.sqrt((
-         self.kalman_pos.pose.position.x -
-         self.ideal_current_pos.pose.position.x)**2
-         + (self.kalman_pos.pose.position.y -
-            self.ideal_current_pos.pose.position.y)**2)
-
-        # TODO: make it more clean!
-        self.kalman_pos_debug_data = debug
-        self.current_pos_debug()
-        self.kalman_debug_publisher.publish(debug)
-
-        # save data in paf23/doc/06_perception/00_Experiments/kalman_datasets
-        # for debugging with matplotlib:
-        self.save_location_errors()
-
-    def save_location_errors(self):
-        """
-        This method saves the current location errors in a csv file.
-        in the folders of
-        paf23/doc/06_perception/00_Experiments/kalman_datasets
-        It does this for a limited amount of time.
-        """
-        # if rospy.get_time() > 45 stop saving data:
-        if rospy.get_time() > DATA_SAVING_MAX_TIME:
-            self.loginfo("STOPPED SAVING LOCATION DATA")
-            return
-
-        # Specify the path to the folder where you want to save the data
-        base_path = ('/workspace/code/perception/'
-                     'src/00_Experiments/kalman_datasets/')
-        folder_path_x = base_path + 'x_error'
-        folder_path_y = base_path + 'y_error'
-        # Ensure the directories exist
-        os.makedirs(folder_path_x, exist_ok=True)
-        os.makedirs(folder_path_y, exist_ok=True)
-
-        if self.csv_x_created is False:
-            self.csv_file_path_x = create_file(folder_path_x)
-            self.csv_x_created = True
-        if self.csv_y_created is False:
-            self.csv_file_path_y = create_file(folder_path_y)
-            self.csv_y_created = True
-
-        with open(self.csv_file_path_x, 'a', newline='') as file:
-            writer = csv.writer(file)
-            writer.writerow([rospy.get_time(),
-                             self.ideal_current_pos.pose.position.x,
-                             self.kalman_pos.pose.position.x,
-                             self.current_pos.pose.position.x,
-                             self.unfiltered_pos.pose.position.x,
-                             self.kalman_pos_debug_data.data[0],
-                             self.current_pos_debug_data.data[0],
-                             self.unfiltered_pos_debug_data.data[0]])
-
-        with open(self.csv_file_path_y, 'a', newline='') as file:
-            writer = csv.writer(file)
-            writer.writerow([rospy.get_time(),
-                             self.ideal_current_pos.pose.position.y,
-                             self.kalman_pos.pose.position.y,
-                             self.current_pos.pose.position.y,
-                             self.unfiltered_pos.pose.position.y,
-                             self.kalman_pos_debug_data.data[1],
-                             self.current_pos_debug_data.data[1],
-                             self.unfiltered_pos_debug_data.data[1]])
-
-    def save_heading_errors(self):
-        """
-        This method saves the current heading errors in a csv file.
-        in the folders of
-        paf23/doc/06_perception/00_Experiments/kalman_datasets
-        It does this for a limited amount of time.
-        """
-        # if rospy.get_time() > 45 stop saving data:
-        if rospy.get_time() > DATA_SAVING_MAX_TIME:
-            self.loginfo("STOPPED SAVING HEADING DATA")
-            return
-
-        # Specify the path to the folder where you want to save the data
-        base_path = ('/workspace/code/perception/'
-                     'src/00_Experiments/kalman_datasets/')
-        folder_path_heading = base_path + 'heading_error'
-
-        # Ensure the directories exist
-        os.makedirs(folder_path_heading, exist_ok=True)
-
-        if self.csv_heading_created is False:
-            self.csv_file_path_heading = create_file(folder_path_heading)
-            self.csv_heading_created = True
-
-        with open(self.csv_file_path_heading, 'a', newline='') as file:
-            writer = csv.writer(file)
-            writer.writerow([rospy.get_time(),
-                             self.ideal_heading.data,
-                             self.kalman_heading.data,
-                             self.current_heading.data,
-                             self.kalman_heading_debug_data.data,
-                             self.current_heading_debug_data.data])
-
-    def update_heading_error(self, data: Float32):
-        """
-        This method is called when new current_heading data is received.
-        """
-        self.current_heading = data
-        self.loginfo("current_heading: " + str(data))
-
-        heading_error = Float32()
-
-        # calculate the error between ideal_imu and imu
-        heading_error.data = (self.ideal_heading.data -
-                              self.current_heading.data)
-        self.heading_error_publisher.publish(heading_error)
-
-        # for savnig data in csv file:
-        self.current_heading_debug_data = heading_error
-
-    def update_location_error(self, data: PoseStamped):
-        """
-        This method is called when new current_pos data is received.
-        It handles all necessary updates and publishes the error.
-        :param data: new current_pos measurement
-        :return:
-        """
-        self.current_pos = data
-        error = Float32MultiArray()
-
-        error.data = [0, 0]
-        # calculate the error between ideal_current_pos and current_pos
-        error.data[0] = math.sqrt((
-         self.ideal_current_pos.pose.position.x - data.pose.position.x)**2
-         + (self.ideal_current_pos.pose.position.y - data.pose.position.y)**2)
-        # calculate the error between carla_current_pos and current_pos
-        error.data[1] = math.sqrt((
-         self.carla_current_pos.pose.position.x - data.pose.position.x)**2
-         + (self.carla_current_pos.pose.position.y - data.pose.position.y)**2)
-
-        self.location_error_publisher.publish(error)
-
-    def get_geoRef(self, opendrive: String):
-        """_summary_
-        Reads the reference values for lat and lon from the carla OpenDriveMap
-        Args:
-            opendrive (String): OpenDrive Map from carla
-        """
-        root = eTree.fromstring(opendrive.data)
-        header = root.find("header")
-        geoRefText = header.find("geoReference").text
-
-        latString = "+lat_0="
-        lonString = "+lon_0="
-
-        indexLat = geoRefText.find(latString)
-        indexLon = geoRefText.find(lonString)
-
-        indexLatEnd = geoRefText.find(" ", indexLat)
-        indexLonEnd = geoRefText.find(" ", indexLon)
-
-        latValue = float(geoRefText[indexLat + len(latString):indexLatEnd])
-        lonValue = float(geoRefText[indexLon + len(lonString):indexLonEnd])
-
-        CoordinateTransformer.la_ref = latValue
-        CoordinateTransformer.ln_ref = lonValue
-        CoordinateTransformer.ref_set = True
-        self.transformer = CoordinateTransformer()
-
-    def update_gps_data(self, data: NavSatFix):
-        """
-        This method is called when new GNSS data is received.
-        The function calculates the average position and then publishes it.
-        Measurements are also transformed to global xyz-coordinates
-        :param data: GNSS measurement
-        :return:
-        """
-        lat = data.latitude
-        lon = data.longitude
-        alt = data.altitude
-
-        if self.transformer is None:
-            self.transformer = CoordinateTransformer()
-        x, y, z = self.transformer.gnss_to_xyz(lat, lon, alt)
-        # find reason for discrepancy
-        # x *= 0.998
-        # y *= 1.003
-
-        # self.avg_xyz = np.roll(self.avg_xyz, -1, axis=0)
-        # self.avg_xyz[-1] = np.matrix([x, y, z])
-
-        # avg_x, avg_y, avg_z = np.mean(self.avg_xyz, axis=0)
-
-        cur_pos = PoseStamped()
-
-        cur_pos.header.stamp = data.header.stamp
-        cur_pos.header.frame_id = "global"
-
-        cur_pos.pose.position.x = x
-        cur_pos.pose.position.y = y
-        cur_pos.pose.position.z = z
-
-        cur_pos.pose.orientation.x = 0
-        cur_pos.pose.orientation.y = 0
-        cur_pos.pose.orientation.z = 1
-        cur_pos.pose.orientation.w = 0
-
-        self.cur_pos_publisher.publish(cur_pos)
-        self.ideal_current_pos = cur_pos
-
-        # TODO check if still needed
-        # also update carla_car_position:
-        # if self.vehicle is None:
-        #     for actor in self.world.get_actors():
-        #         if actor.attributes.get('role_name') == self.role_name:
-        #             self.vehicle = actor
-        #             break
-
-        # carla_pos = PoseStamped()
-        # carla_pos.header.stamp = data.header.stamp
-        # carla_pos.header.frame_id = "global"
-
-        # pos = self.vehicle.get_location()
-        # carla_pos.pose.position.x = pos.x
-        # carla_pos.pose.position.y = -pos.y
-        # carla_pos.pose.position.z = pos.z
-
-        # carla_pos.pose.orientation.x = 0
-        # carla_pos.pose.orientation.y = 0
-        # carla_pos.pose.orientation.z = 1
-        # carla_pos.pose.orientation.w = 0
-
-        # self.carla_pos_publisher.publish(carla_pos)
-        # self.carla_current_pos = carla_pos
-
-        # get x and y coordinates of ideal_GPS and carla_pos
-        # publish errors between ideal_x and carla_pos.x
-        # and ideal_y and carla_pos.y
-        # ideal_x = Float32MultiArray()
-        # ideal_y = Float32MultiArray()
-        # x_error = (
-        #     self.ideal_current_pos.pose.position.x
-        #     - self.carla_current_pos.pose.position.x
-        # )
-        # y_error = (
-        #     self.ideal_current_pos.pose.position.y
-        #     - self.carla_current_pos.pose.position.y
-        # )
-        # ideal_x.data = [self.ideal_current_pos.pose.position.x,
-        #                 self.carla_current_pos.pose.position.x,
-        #                 x_error]
-        # ideal_y.data = [self.ideal_current_pos.pose.position.y,
-        #                 self.carla_current_pos.pose.position.y,
-        #                 y_error]
-
-        # self.ideal_x_publisher.publish(ideal_x)
-        # self.ideal_y_publisher.publish(ideal_y)
-
-    def update_imu_data(self, data: Imu):
-        """
-        This method is called when new IMU data is received.
-        The function calculates the average position and then publishes it.
-        :param data: IMU measurement
-        :return:
-        """
-        imu_data = Imu()
-
-        imu_data.header.stamp = data.header.stamp
-        imu_data.header.frame_id = "hero"
-
-        imu_data.orientation.x = data.orientation.x
-        imu_data.orientation.y = data.orientation.y
-        imu_data.orientation.z = data.orientation.z
-        imu_data.orientation.w = data.orientation.w
-        imu_data.orientation_covariance = [0, 0, 0,
-                                           0, 0, 0,
-                                           0, 0, 0]
-
-        imu_data.angular_velocity.x = data.angular_velocity.x
-        imu_data.angular_velocity.y = data.angular_velocity.y
-        imu_data.angular_velocity.z = data.angular_velocity.z
-        imu_data.angular_velocity_covariance = [0, 0, 0,
-                                                0, 0, 0,
-                                                0, 0, 0]
-
-        imu_data.linear_acceleration.x = data.linear_acceleration.x
-        imu_data.linear_acceleration.y = data.linear_acceleration.y
-        imu_data.linear_acceleration.z = data.linear_acceleration.z
-        imu_data.linear_acceleration_covariance = [0, 0, 0,
-                                                   0, 0, 0,
-                                                   0, 0, 0]
-
-        self.ekf_imu_publisher.publish(imu_data)
-
-        # Calculate the heading based on the orientation given by the IMU
-        data_orientation_q = [data.orientation.x,
-                              data.orientation.y,
-                              data.orientation.z,
-                              data.orientation.w]
-
-        heading = quat_to_heading(data_orientation_q)
-
-        self.__heading = heading
-        self.__heading_publisher.publish(self.__heading)
-
-        self.loginfo("heading: " + str(heading))
-
-        self.ideal_heading = Float32(heading)
-
-    def run(self):
-        """
-        Control loop
-        :return:
-        """
-        self.spin()
-
-
-def create_file(folder_path):
-    '''
-    This function creates a new csv file in the folder_path
-    in correct sequence looking like data_00.csv, data_01.csv, ...
-    and returns the path to the file.
-    '''
-    i = 0
-    while True:
-        file_path = f'{folder_path}/data_{str(i).zfill(2)}.csv'
-        if not os.path.exists(file_path):
-            with open(file_path, 'w', newline=''):
-                pass
-            return file_path
-        i += 1
-
-
-def main(args=None):
-    """
-    main function
-    :param args:
-    :return:
-    """
-
-    roscomp.init("position_heading_publisher_node_2", args=args)
-    try:
-        node = SensorFilterDebugNode()
-        node.run()
-    except KeyboardInterrupt:
-        pass
-    finally:
-        roscomp.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/doc/00_assets/perception/sensor_debug_change.png b/doc/00_assets/perception/sensor_debug_change.png
new file mode 100644
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diff --git a/doc/00_assets/perception/sensor_debug_data_saving.png b/doc/00_assets/perception/sensor_debug_data_saving.png
new file mode 100644
index 00000000..a8b56e12
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diff --git a/doc/00_assets/perception/sensor_debug_viz_config.png b/doc/00_assets/perception/sensor_debug_viz_config.png
new file mode 100644
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diff --git a/doc/06_perception/07_position_heading_filter_debug_node.md b/doc/06_perception/07_position_heading_filter_debug_node.md
new file mode 100644
index 00000000..e57835bf
--- /dev/null
+++ b/doc/06_perception/07_position_heading_filter_debug_node.md
@@ -0,0 +1,209 @@
+# position_heading_filter_debug_node.py
+
+**Summary:** [position_heading_filter_debug_node.py](../../code/perception/src/position_heading_filter_debug_node.py):
+
+The position_heading_filter_debug_node node is responsible for collecting sensor data from the IMU and GNSS and process the data in such a way, that it shows the errors between the real is-state and the measured state.
+The data can be looked at in rqt_plots or (better) in mathplotlib plots pre-made by the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file.
+
+!!THIS NODE USES THE CARLA API!!
+
+Using the Carla API could disqualify us from the leaderboard when submitting onto the official leaderboard.
+Uncomment (maybe even remove) this file when submitting to the official leaderboard.
+This file is only for debugging!
+
+---
+
+## Author
+
+Robert Fischer
+
+## Date
+
+31.03.2024
+
+## Prerequisite
+
+---
+<!-- TOC -->
+- [position\_heading\_filter\_debug\_node.py](#position_heading_filter_debug_nodepy)
+  - [Author](#author)
+  - [Date](#date)
+  - [Prerequisite](#prerequisite)
+  - [Getting started](#getting-started)
+  - [Description](#description)
+    - [Inputs](#inputs)
+    - [Outputs](#outputs)
+  - [Visualization](#visualization)
+<!-- TOC -->
+
+---
+
+## Getting started
+
+Uncomment the position_heading_filter_debug_node.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node.
+You can also uncomment the rqt_plots that seem useful to you, or create your own ones from the data published.
+
+If you are trying to implement a new position/ heading filter and want to tune it using this node, you will have to do the following things:
+
+1. Create a new Filter Node class (if not already done) AND publish a paf/hero/filter_name_pos AND/OR filter_name_heading
+2. Change the topic of the test_filter_subscribers to your topic (currently kalman)
+
+![Subscriber Change](/doc/00_assets/perception/sensor_debug_change.png)
+
+If you want to save the debug in csv files for better debugging you should uncomment
+that part in the main loop of the file:
+
+![Save Files as CSV](/doc/00_assets/perception/sensor_debug_data_saving.png)
+
+---
+
+## Description
+
+Running the node provides you with ideal position and heading topics that can be used to debug your sensor filters by giving you ideal values you should aim for.
+
+It also provides you with helpful data saving methods for plotting your data (with regards to ideal values) by using the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file, which is a lot more customizable and nicer to use than rqt plots.
+If you want to know more about how to use that, you can go on to [Visualization](#visualization)
+
+An Example of rqt plot Output can be seen here:
+![Distance from current_pos to ideal_gps_pos (blue) and to carla_pos (red)](../00_assets/gnss_ohne_rolling_average.png)
+
+The file is using a main loop with a fixed refresh rate, that can be changed in the perception launch file.
+In this loop it does the following things:
+
+1. Refresh the Ideal Position and Heading (using the Carla API)
+2. Update & Publish the Position & Heading Debug Values (see [Outputs](#outputs) for more info)
+3. Save the debug data in CSV files in the corresponding folder in code/perception/00_Experiments
+
+    (can be outcommented if only working with rqt graphs is enough for you)
+
+If activated it automatically saves the csv data in numerically ordered "data_##.csv" format.
+
+The CSV files columns are formatted in the following style:
+
+**X csv file example:**
+| Time | Unfiltered | Ideal(Carla) | Current | Test Filter | Unfiltered Error | Current Error | Test Filter Error |
+| ---- | ---------- | ------------ | ------- | ----------- | ---------------- | ------------- | ----------------- |
+| 0.1  | 10.0       | 10.1         | 10.2    | 10.3        | 0.1              | 0.2           | 0.3               |
+| 0.2  | 20.0       | 20.1         | 20.2    | 20.3        | 0.1              | 0.2           | 0.3               |
+
+**Y csv file example:**
+| Time | Unfiltered Y | Ideal (Carla) Y | Current Y | Test Filter Y | Unfiltered Y Error | Current Y Error | Test Filter Y Error |
+| ---- | ------------ | --------------- | --------- | ------------- | ------------------ | --------------- | -------------------- |
+| 0.1  | 10.0         | 10.1            | 10.2      | 10.3          | 0.1                | 0.2             | 0.3                  |
+| 0.2  | 20.0         | 20.1            | 20.2      | 20.3          | 0.1                | 0.2             | 0.3                  |
+
+**heading csv file example:**
+| Time | Unfiltered | Ideal(Carla) | Current | Test Filter | Unfiltered Error | Current Error | Test Filter Error |
+| ---- | ---------- | ------------ | ------- | ----------- | ---------------- | ------------- | ----------------- |
+| 0.1  | 10.0       | 10.1         | 10.2    | 10.3        | 0.1              | 0.2           | 0.3               |
+| 0.2  | 20.0       | 20.1         | 20.2    | 20.3        | 0.1              | 0.2           | 0.3               |
+
+### Inputs
+
+This node subscribes to the following needed topics:
+
+- current agent position:
+  - `/paf/{role_name}/current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- current agent heading:
+  - `/paf/{role_name}/current_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+- [Carla_API Position](https://carla.readthedocs.io/en/latest/python_api/)
+  - `get_location`
+- [Carla_API Heading](https://carla.readthedocs.io/en/latest/python_api/)
+  - `get_transform().rotation.yaw`
+- test filter position:
+  - `/paf/{role_name}/test_filter_name_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- test filter heading:
+  - `/paf/{role_name}/test_filter_name_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+- unfiltered position:
+  - `/paf/{role_name}/unfiltered_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- unfiltered heading:
+  - `/paf/{role_name}/unfiltered_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+  
+### Outputs
+
+This node publishes the following topics:
+
+- Carla Position:
+  - `/paf/{self.role_name}/carla_current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- Carla Heading:
+  - `/paf/{role_name}/carla_current_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+- Position Debug:
+  - `/paf/{self.role_name}/position_debug` ([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html))
+  - The Data is ordered in the following way:
+
+```Python
+        """
+        unfiltered_pos.x in debug.data[0]
+        unfiltered_pos.y in debug.data[1]
+        carla_current_pos.x in debug.data[2]
+        carla_current_pos.y in debug.data[3]
+        current_pos.x in debug.data[4]
+        current_pos.y in debug.data[5]
+        test_filter_pos.x in debug.data[6]
+        test_filter_pos.y in debug.data[7]
+
+        carla_current_pos.x - unfiltered_pos.x in debug.data[8]
+        carla_current_pos.y - unfiltered_pos.y in debug.data[9]
+        sqrt[(carla_current_pos - unfiltered_pos)^2] in debug.data[10]
+
+        carla_current_pos.x - current_pos.x in debug.data[11]
+        carla_current_pos.y - current_pos.y in debug.data[12]
+        sqrt[(carla_current_pos - current_pos)^2] in debug.data[13]
+
+        carla_current_pos.x - test_filter_pos.x in debug.data[14]
+        carla_current_pos.y - test_filter_pos.y in debug.data[15]
+        sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[16]
+        """
+```
+
+- Heading Debug:
+  - `/paf/{self.role_name}/heading_debug` ([Float32](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+  - The Data is ordered in the following way:
+
+```Python
+        """
+        unfiltered_heading in debug.data[0]
+        carla_current_heading in debug.data[1]
+        current_heading in debug.data[2]
+        test_filter_heading in debug.data[3]
+        carla_current_heading - unfiltered_heading in debug.data[4]
+        carla_current_heading - current_heading in debug.data[5]
+        carla_current_heading - test_filter_heading in debug.data[6]
+        """
+```
+
+## Visualization
+
+The visualisation of the saved csv data is a really useful tool for debugging and tuning filters.
+
+To be able to save data in csv files you just need to uncomment the saving methods in the main loop as stated in the [Getting Started](#getting-started) chapter.
+
+To use the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file you will have to:
+
+1. Configure the main method to your likings inside the viz.py: ![picture](/doc/00_assets/perception/sensor_debug_viz_config.png)
+2. Open up the b5 shell typing ```b5 shell``` into the terminal
+3. Navigate to the code/perception/src/00_Experiments/Position_Heading folder using ```cd```
+4. run the viz.py using ```python viz.py```
+
+With this file you can plot:
+
+- Notched Box Graphs
+  - For X, Y and Headings
+  - using MAE, MSE error types
+- CEP Graphs
+  - For Position Errors
+- X,Y Point Coordinate Graph
+- Time Graphs:
+  - for X, Y and Heading
+
+All of which compare the test filter, with the ideal filter and currently running filter.
+
+You can also find the "best tuned" file using the ```plot_best_tuned_file_by_type``` method within a specified file range that you want to compare each file with. This can be useful if you try to tune your filter
+doing multiple runs and of course saving multiple files.
+
+The deciding factor for a best tuned file is the lowest IQR or the lowest MSE (Degault) which can also be set as an argument.
+
+To use this method you have to change the ```FILE_START``` and
+```FILE_END``` values to the range of data you want to compare.
+
+Of course you can add more plots and other methods to this visualization file if needed.
diff --git a/doc/06_perception/07_sensor_filter_debug.md b/doc/06_perception/07_sensor_filter_debug.md
deleted file mode 100644
index d3ab8932..00000000
--- a/doc/06_perception/07_sensor_filter_debug.md
+++ /dev/null
@@ -1,147 +0,0 @@
-# sensor_filter_debug.py
-
-**Summary:** [sensor_filter_debug.py](../../code/perception/src/sensor_filter_debug.py):
-
-The sensor_filter_debug node is responsible for collecting sensor data from the IMU and GNSS and process the data in such a way, that it shows the errors between the real is-state and the measured state.
-The data is the shown in multiple rqt_plots.
-
----
-
-## Author
-
-Robert Fischer
-
-## Date
-
-03.12.2023
-
-## Prerequisite
-
----
-<!-- TOC -->
-- [sensor\_filter\_debug.py](#sensor_filter_debugpy)
-  - [Author](#author)
-  - [Date](#date)
-  - [Prerequisite](#prerequisite)
-  - [Getting started](#getting-started)
-  - [Description](#description)
-    - [Inputs](#inputs)
-    - [Outputs](#outputs)
-<!-- TOC -->
-
----
-
-## Getting started
-
-Uncomment the sensor_filter_debug.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node.
-You can also uncomment the rqt_plots that seem useful to you, or create your own ones from the data published.
-You have to add the following sensors to the sensors inside the [dev_objects.json](../../code/agent/config/dev_objects.json):
-
-```json
-{
-          "type": "sensor.other.gnss",
-          "id": "Ideal_GPS",
-          "spawn_point": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 1.60
-          },
-          "noise_alt_stddev": 0.0,
-          "noise_lat_stddev": 0.0,
-          "noise_lon_stddev": 0.0,
-          "noise_alt_bias": 0.0,
-          "noise_lat_bias": 0.0,
-          "noise_lon_bias": 0.0
-        },
-        {
-          "type": "sensor.other.imu",
-          "id": "Ideal_IMU",
-          "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
-            "roll": 0.0,
-            "pitch": 0.0,
-            "yaw": 0.0
-          },
-          "noise_accel_stddev_x": 0.0,
-          "noise_accel_stddev_y": 0.0,
-          "noise_accel_stddev_z": 0.0,
-          "noise_gyro_stddev_x": 0.0,
-          "noise_gyro_stddev_y": 0.0,
-          "noise_gyro_stddev_z": 0.0
-        },
-        {
-          "type": "sensor.other.radar",
-          "id": "Ideal_RADAR",
-          "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
-            "roll": 0.0,
-            "pitch": 0.0,
-            "yaw": 45.0
-          },
-          "horizontal_fov": 30.0,
-          "vertical_fov": 30.0,
-          "points_per_second": 1500,
-          "range": 100.0
-        }
-```
-
-You also have to launch it in dev mode, otherwise the added ideal sensors won't work.
-No extra installation needed.
-
----
-
-## Description
-
-Running the node provides you with ideal Sensor topics that can be used to debug your sensor filters by giving you ideal values you should aim for.
-Right now only the IMU and the GNSS sensor are available for debug.
-Debug for the RADAR and LIDAR hasn't been implemented yet.
-
-An Example of Location Error Output can be seen here:
-![Distance from current_pos to ideal_gps_pos (blue) and to carla_pos (red)](../00_assets/gnss_ohne_rolling_average.png)
-
-### Inputs
-
-This node subscribes to the following needed topics:
-
-- OpenDrive Map:
-  - `/carla/{role_name}/OpenDRIVE` ([String](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) or `/carla/world_info` ([CarlaWorldInfo](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaworldinfomsg))
-- Ideal_IMU:
-  - `/carla/{role_name}/Ideal_IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html))
-- Ideal_GPS:
-  - `/carla/{role_name}/Ideal_GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html))
-- current agent position:
-  - `/paf/{role_name}/current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
-- current agent heading:
-  - `/paf/{role_name}/current_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
-- [Carla_API](https://carla.readthedocs.io/en/latest/python_api/)
-  - `get_location`
-
-### Outputs
-
-This node publishes the following topics:
-
-- Ideal_IMU:
-  - `/carla/{role_name}/Ideal_IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html))
-- Ideal_GPS:
-  - `/carla/{role_name}/Ideal_GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html))
-- Ideal Odometry:
-  - `/ideal_odom` ([Odometry](https://docs.ros.org/en/api/nav_msgs/html/msg/Odometry.html))
-- Ideal current agent position (calculated from ideal GPS):
-  - `/paf/{role_name}/idealcurrent_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
-- Ideal current agent heading (calculated from ideal IMU):
-  - `/paf/{role_name}/current_heading` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
-- Carla Position:
-  - `/paf/{self.role_name}/carla_current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
-- Location Error:
-  - `/paf/{self.role_name}/location_error` ([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html))
-- Heading Error:
-  - `/paf/{self.role_name}/heading_error` ([Float32](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
-- Ideal Coordinate Publisher (used to debug [#105](https://github.com/una-auxme/paf23/issues/105))
-  - Ideal X Publisher:
-    - `/paf/{self.role_name}/ideal_x`([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html))
-  - Ideal Y Publisher:
-    - `/paf/{self.role_name}/ideal_y`([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html))
diff --git a/doc/06_perception/Readme.md b/doc/06_perception/Readme.md
index f92db2b0..c1211881 100644
--- a/doc/06_perception/Readme.md
+++ b/doc/06_perception/Readme.md
@@ -16,7 +16,7 @@ This folder contains further documentation of the perception components.
 
 ## 6. [Vision Node](./06_vision_node.md)
 
-## 7. [sensor_filter_debug.py](./07_sensor_filter_debug.md)
+## 7. [Position Heading Filter Debug Node](./07_position_heading_filter_debug_node.md)
 
 ## 8. [Kalman Filter](./08_kalman_filter.md)