dump the long distance marker result, correct covariance matrix in kalman

catkin_ws/src/asclinic_pkg/src/image.py

@@ -92,7 +92,7 @@ def answer_callback(msg, markers, publisher):
                 phi_now = normalize_angle(phi_now)
                 #if phi_now>1.8*math.pi:
                     #phi_now = -(2*math.pi - phi_now)
-                rospy.loginfo("x" + str(x) + " Y " + str(y) + " phi " + phi_now)
+                rospy.loginfo("x" + str(x) + " Y " + str(y) + " phi " + str(phi_now))
 
                 if now_d< mini_d:
                     phi_avg == phi_now