Update app.py

app.py

@@ -190,9 +190,9 @@ def step_simulation(scan_range):
             state.slam_points.append(pt)
     # Draw images
     env_img = draw_environment(state.robot_pose, state.trajectory, state.obstacles)
-    slam_img = gr.Image(label="SLAM Map View", height=SPACE_SIZE, width=SPACE_SIZE)
-    
-    
+    #slam_img = gr.Image(label="SLAM Map View", height=SPACE_SIZE, width=SPACE_SIZE)
+    slam_img = draw_slam_map(state.robot_pose, state.slam_points, scan_range)
+
     # If recording, save frames
     if state.recording:
         combined = Image.new('RGB', (SPACE_SIZE * 2, SPACE_SIZE))
@@ -222,10 +222,9 @@ with gr.Blocks() as demo:
     with gr.Row():
         
         env_img = gr.Image(label="Environment View", height=SPACE_SIZE, width=SPACE_SIZE)
-        slam_img = gr.Image(label="SLAM Map View", height=SPACE_SIZE, width=SPACE_SIZE)
-
-
+        #slam_img = gr.Image(label="SLAM Map View", height=SPACE_SIZE, width=SPACE_SIZE)
         #slam_img = gr.Image(label="SLAM Map View", shape=(SPACE_SIZE, SPACE_SIZE))
+        slam_img = draw_slam_map(state.robot_pose, state.slam_points, scan_range)
     with gr.Row():
         scan_range_slider = gr.Slider(1.0, 10.0, value=SCAN_RANGE_DEFAULT, step=0.1, label="Laser Scan Range")
         obstacle_count_slider = gr.Slider(0, 30, value=OBSTACLE_COUNT, step=1, label="Obstacle Count")