semantic navigation fix

dimos/agents_deprecated/memory/spatial_vector_db.py

@@ -225,8 +225,8 @@ def _process_query_results(self, results) -> list[dict]:  # type: ignore[no-unty
                 )
 
             # Get the image from visual memory
-            image = self.visual_memory.get(lookup_id)
-            result["image"] = image
+            #image = self.visual_memory.get(lookup_id)
+            #result["image"] = image
 
             processed_results.append(result)
 

dimos/perception/spatial_perception.py

@@ -33,6 +33,7 @@
 from dimos.agents_deprecated.memory.visual_memory import VisualMemory
 from dimos.constants import DIMOS_PROJECT_ROOT
 from dimos.core import DimosCluster, In, Module, rpc
+from dimos.core.skill_module import SkillModule
 from dimos.msgs.sensor_msgs import Image
 from dimos.types.robot_location import RobotLocation
 from dimos.utils.logging_config import setup_logger
@@ -50,7 +51,7 @@
 logger = setup_logger()
 
 
-class SpatialMemory(Module):
+class SpatialMemory(SkillModule):
     """
     A Dask module for building and querying Robot spatial memory.
 
@@ -216,8 +217,12 @@ def stop(self) -> None:
 
     def _process_frame(self) -> None:
         """Process the latest frame with pose data if available."""
-        tf = self.tf.get("map", "base_link")
-        if self._latest_video_frame is None or tf is None:
+        tf = self.tf.get("world", "base_link")
+
+        if tf is None:
+            return
+
+        if self._latest_video_frame is None:
             return
 
         # Create Pose object with position and orientation
@@ -501,7 +506,7 @@ def add_named_location(
         Returns:
             True if successfully added, False otherwise
         """
-        tf = self.tf.get("map", "base_link")
+        tf = self.tf.get("world", "base_link")
         if not tf:
             logger.error("No position available for robot location")
             return False