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i upgraded a system to diamondback and been testing coreslam which somewhere there was a hint it may be more suitable for the "PML", The first half of the map is looking good, after tweaking/reducing the theta and sigma. I'm using bag files.

The error in the second half may also be due to the sweeps which may be magnetic variance so I'll try to adjust for that in the odom as well.

Tomorrow when I get myself together I'll run the robot again at short intervals between sweeps.

Thanks

Dave