Fix location, don't print whole map.

SlamController/slam_streamer.py

@@ -72,7 +72,6 @@ class SlamStreamer:
             slam.update(distances, scan_angles_degrees=angles)
             print('Map updated')
             slam.getmap(mapbytes)
-            print(mapbytes)
             self._push_map(mapbytes, slam.getpos())
 
     def _push_map(self, mapbytes, location):
@@ -82,7 +81,7 @@ class SlamStreamer:
         location should be a tuple, the result of slam.getpos()
         '''
         protoScan = SlamScan(map=bytes(mapbytes),
-                             location=SlamLocation(x=location[0], y=location[1], theta=location[3]))
+                             location=SlamLocation(x=location[0], y=location[1], theta=location[2]))
         print('Sending map')
         self._socket.send_multipart(b'slam_map', protoScan.SerializeToString())