limit to kalman

catkin_ws/src/asclinic_pkg/src/Kalman.cpp

@@ -149,7 +149,7 @@ void ImageAnswer(const asclinic_pkg::position& msg) {
 
     //ROS_INFO_STREAM("new_pose: " << new_pose);
 
-    if (std::isnan(new_pose(0)) || std::isnan(new_pose(1)) || std::isnan(new_pose(2))) {
+    if (std::isnan(new_pose(0)) || std::isnan(new_pose(1)) || std::isnan(new_pose(2))||new_pose(0)<-2 ||new_pose(1)<-4) {
         x = odo_position(0);
         y = odo_position(1);
         phi = odo_position(2);