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2022-10-10 14:32:50 +02:00
parent 0860ccd58b
commit b3aaf40487
1 changed files with 2 additions and 1 deletions
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@ -254,7 +254,8 @@ try:
        particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
        est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
        calc_weight(est_pose, landmark_values)
-        print("est_pose weight: ", est_pose.weight)
+        if est_pose.weight > 10**-23:
+            break

        if showGUI:
            # Draw map