diff --git a/SlamController/SlamController_pb2.py b/SlamController/SlamController_pb2.py
index 66f4b7f..bcce021 100644
--- a/SlamController/SlamController_pb2.py
+++ b/SlamController/SlamController_pb2.py
@@ -20,7 +20,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   package='',
   syntax='proto3',
   serialized_options=None,
-  serialized_pb=_b('\n\x14SlamController.proto\"M\n\x0bSlamDetails\x12\x17\n\x0fmap_size_pixels\x18\x01 \x01(\x05\x12\x17\n\x0fmap_size_meters\x18\x02 \x01(\x05\x12\x0c\n\x04port\x18\x03 \x01(\x05\"\x19\n\x07SlamRow\x12\x0e\n\x06points\x18\x01 \x03(\x05\"3\n\x0cSlamLocation\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\x12\r\n\x05theta\x18\x03 \x01(\x05\"8\n\x08SlamScan\x12\x0b\n\x03map\x18\x01 \x01(\x0c\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.SlamLocation\"\x07\n\x05\x45mpty2`\n\x0bSlamControl\x12-\n\x13start_map_streaming\x12\x0c.SlamDetails\x1a\x06.Empty\"\x00\x12\"\n\x0estop_streaming\x12\x06.Empty\x1a\x06.Empty\"\x00\x62\x06proto3')
+  serialized_pb=_b('\n\x14SlamController.proto\"M\n\x0bSlamDetails\x12\x17\n\x0fmap_size_pixels\x18\x01 \x01(\x05\x12\x17\n\x0fmap_size_meters\x18\x02 \x01(\x05\x12\x0c\n\x04port\x18\x03 \x01(\x05\"\x19\n\x07SlamRow\x12\x0e\n\x06points\x18\x01 \x03(\x05\"3\n\x0cSlamLocation\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\r\n\x05theta\x18\x03 \x01(\x02\"8\n\x08SlamScan\x12\x0b\n\x03map\x18\x01 \x01(\x0c\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.SlamLocation\"\x07\n\x05\x45mpty2`\n\x0bSlamControl\x12-\n\x13start_map_streaming\x12\x0c.SlamDetails\x1a\x06.Empty\"\x00\x12\"\n\x0estop_streaming\x12\x06.Empty\x1a\x06.Empty\"\x00\x62\x06proto3')
 )
 
 
@@ -111,22 +111,22 @@ _SLAMLOCATION = _descriptor.Descriptor(
   fields=[
     _descriptor.FieldDescriptor(
       name='x', full_name='SlamLocation.x', index=0,
-      number=1, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='y', full_name='SlamLocation.y', index=1,
-      number=2, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='theta', full_name='SlamLocation.theta', index=2,
-      number=3, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
diff --git a/SlamController/SlamController_pb2_grpc.py b/SlamController/SlamController_pb2_grpc.py
index dd7bdf5..16c5743 100644
--- a/SlamController/SlamController_pb2_grpc.py
+++ b/SlamController/SlamController_pb2_grpc.py
@@ -1,7 +1,7 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 import grpc
 
-from . import SlamController_pb2 as SlamController__pb2
+import SlamController_pb2 as SlamController__pb2
 
 
 class SlamControlStub(object):
diff --git a/SlamController/proto/SlamController.proto b/SlamController/proto/SlamController.proto
index c69711c..2a0c05e 100644
--- a/SlamController/proto/SlamController.proto
+++ b/SlamController/proto/SlamController.proto
@@ -11,9 +11,9 @@ message SlamRow{
 }
 
 message SlamLocation{
-    int32 x = 1;
-    int32 y = 2;
-    int32 theta = 3;
+    float x = 1;
+    float y = 2;
+    float theta = 3;
 }
 
 message SlamScan{