Final merge after second debug

ESP32_AT/imageTread_AT.py

@@ -61,7 +61,7 @@ def get_AT_6DOF_info(url, detectFlag = True):
         print("Detected TID: ", tid)
         if tid in leftSideAT:
             ttx, tty, ttz = r.pose_t
-            if (ttz < closest_tag):
+            if (ttz < closest_tag_dist):
                 closest_tag_dist = ttz
                 tx, ty, tz = r.pose_t # in meters
                 rx,ry,rz = r.pose_R