(fix) Adds a fix to map encoding where it can start with a single det…

…ections layer
automatika-robotics · Jan 20, 2025 · a567203 · a567203
1 parent bb8f860
commit a567203
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/agents/agents/components/map_encoding.py b/agents/agents/components/map_encoding.py
@@ -73,8 +73,8 @@ def __init__(
     ):
         self.config: MapConfig = config
         self.allowed_inputs = {
-            "Required": [String, Odometry, OccupancyGrid],
-            "Optional": [Detections],
+            "Required": [Odometry, OccupancyGrid],
+            "Optional": [String, Detections],
         }
         self.db_client = db_client
 

diff --git a/docs/examples/semantic_map.md b/docs/examples/semantic_map.md
@@ -244,7 +244,7 @@ layer2 = MapLayer(subscribes_to=introspection_answer, resolution_multiple=3)
 
 # Initialize mandatory topics defining the robots localization in space
 position = Topic(name="odom", msg_type="Odometry")
-map_meta_data = Topic(name="map_meta_data", msg_type="MapMetaData")
+map_topic = Topic(name="map", msg_type="OccupancyGrid")
 
 # Initialize a vector DB that will store our semantic map
 chroma = ChromaDB(name="MainDB")
@@ -255,7 +255,7 @@ map_conf = MapConfig(map_name="map")  # We give our map a name
 map = MapEncoding(
     layers=[layer1, layer2],
     position=position,
-    map_meta_data=map_meta_data,
+    map_topic=map_topic,
     config=map_conf,
     db_client=chroma_client,
     trigger=15.0,