… the robot will be in halt, leaving enough time for the robot to do the yaw calibration

… Vision), if no Calibration was done, the wheel will sstop and yaw will be re-calibrated again

… seconds to check calibration with Vision

…ecked whethere Vision is available, if not we just continue the code

…utside of the if-loop, if not state Estimation is not only called once (and not at every timesteps))