Improve fiducial_slam accuracy

[johnny555]

Since fiducial slam is the primary approach, explore ways of improving the accuracy.

• Look at branch nav2d in https://github.com/UbiquityRobotics/fiducials . Its possible that this might drastically improve the accuracy (would be most useful for rotations).
• Consider re-calibrating the camera again.
• Wait for RPi HD to arrive
• Calibrate camera
• Measure new locations of sensors
• Update xarco with new robot layout
• Determine best setting

[johnny555]

Waiting on RaspiCam HD