Add map name mapping for L27 and L29. Fix switch_map method

Author: h-wata

config/config.yaml

@@ -1,3 +1,8 @@
 method_mapping:
+  # <rmf method name>: <kachaka method name>
   dock: return_home
   localize: switch_map
+mapname_mapping:
+  # <rmf map name>: <kachaka map name>
+  27F: L27
+  29F: L29

scripts/connect_openrmf_by_zenoh.py

@@ -52,6 +52,7 @@ def __init__(self, zenoh_router: str, kachaka_access_point: str, robot_name: str
         with open(file_path / "config" / config_file, 'r') as f:
             config = yaml.safe_load(f)
         self.method_mapping = config.get('method_mapping', {})
+        self.map_name_mapping = config.get('map_name_mapping', {})
         self.kachaka_client = kachaka_api.KachakaApiClient(kachaka_access_point)
         self.robot_name = robot_name
         self.task_id = None
@@ -120,13 +121,14 @@ async def switch_map(self, args: dict) -> None:
         Args:
             args (dict): The arguments for the switch_map method.
         """
+        map_name = self.map_name_mapping.get(args.get('map_name'), args.get('map_name'))
         map_list = await self.run_method("get_map_list")
-        map_id = next((item["id"] for item in map_list if item["name"] == args.get('map_name')), None)
+        map_id = next((item["id"] for item in map_list if item["name"] == map_name), None)
         if map_id is not None:
             payload = {"map_id": map_id, "pose": args.get("pose", {"x": 0.0, "y": 0.0, "theta": 0.0})}
             await self.run_method("switch_map", payload)
         else:
-            print(f"Map {args.get('map_name')} not found")
+            print(f"Map {map_name} not found")
 
     async def publish_result(self) -> None:
         """Publish the last command is_completed to Zenoh."""
@@ -219,7 +221,7 @@ def main() -> None:
             asyncio.run(node.publish_result())
             time.sleep(1)
     except KeyboardInterrupt:
-        node.session.delete(f"kachaka/{robot_name}/**")
+        node.session.delete(f"robots/{robot_name}/**")
         node.session.close()