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points for the report

okay,

each of the modules and their problems as well as how they were solved

Describe the approach used in the previous section. Describe the strengths and weaknesses of that approach

Describe what we tried.

Maybe what other filters people tried

Using a particle filter could work nicely given the way that upon detection...

It would create

The control module had problems with being able to escape out

Python Weak typing

PI normalisation

/Pose != /pose

Using the actual robot meant that it was very difficult to realise why the

Action Update.. We found that there are lots of null rep