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The execute function has a single parameter: a inputs dict, which has the message types as key and the message itself as value’s.
The key is given by the SICMessage.id(index=0) function has , with an optional parameter. This is used in the case where there are duplicate input types, e.g. a camera message from two different NAO’s. Use image = inputs[CompressedImageMessage.id(1)].image to access images from the second NAO. The index is dependent on the order in which they are provided as inputs to this service in the SICApplication. For more information see https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/2164391937/Architecture+v2#The-ID-function.
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