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I got side tracked realising that an ir distance sensor is not man enough for the job, so I'm looking at stereo web cams and pointcloud to laserscan conversions to overcome the lack of sensor data, and that also unties from the arduino for laserscan messages.
The coreslam does seem to be better with the pml, and it's highlighted the areas of magnetic variations. I am hoping that with a camera setup to be able to fuse the odometry a bit better either via improved odometery or some form of feature recognition even if I have to coloured label on the wall. The areas of magnetic variation are 10 degrees in 1 cm so it needs to be precise.
Dave
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