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We need a filter for the local ball based on a Kalman Filter

Currently the ball is only selected based on its confidence. Incorporating the distance to the current ball position estimation might improve the selection.

Is your feature request related to a problem? Please describe.

When we switch to filtering in map frame (#15 ), we should switch to the odom frame when the localization is not available or not precise enough.

Describe the solution you'd like

somewhere we should monitor the localization availability and precision and switch the filter frame accordingly.

We need to find a proper configuration for the simulation environment.