Move member variables directly used by fleet adapter into RobotAdapte…

…r, add get_map_name abstract method

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

free_fleet_adapter/free_fleet_adapter/fleet_adapter.py

@@ -218,7 +218,7 @@ def update_robot(robot: Nav2RobotAdapter):
         return None
 
     state = rmf_easy.RobotState(
-        robot.map,
+        robot.get_map_name(),
         robot_pose,
         robot.get_battery_soc()
     )

free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py

@@ -108,20 +108,16 @@ def __init__(
         fleet_handle,
         tf_buffer
     ):
-        RobotAdapter.__init__(self)
+        RobotAdapter.__init__(self, name, node, fleet_handle)
 
-        self.name = name
         self.execution = None
-        self.update_handle = None
         self.configuration = configuration
         self.robot_config_yaml = robot_config_yaml
-        self.node = node
         self.zenoh_session = zenoh_session
-        self.fleet_handle = fleet_handle
         self.tf_buffer = tf_buffer
 
         self.nav_goal_id = None
-        self.map = self.robot_config_yaml['initial_map']
+        self.map_name = self.robot_config_yaml['initial_map']
 
         # TODO(ac): Only use full battery if sim is indicated
         self.battery_soc = 1.0
@@ -149,6 +145,9 @@ def _battery_state_callback(sample: zenoh.Sample):
     def get_battery_soc(self) -> float:
         return self.battery_soc
 
+    def get_map_name(self) -> str:
+        return self.map_name
+
     def get_pose(self) -> Annotated[list[float], 3] | None:
         transform = self.tf_handler.get_transform()
         if transform is None:
@@ -258,12 +257,12 @@ def _handle_navigate_to_pose(
         z: float,
         yaw: float
     ):
-        if map_name != self.map:
+        if map_name != self.map_name:
             # TODO(ac): test this map related replanning behavior
             self.replan_counts += 1
             self.node.get_logger().error(
                 f'Destination is on map [{map_name}], while robot '
-                f'[{self.name}] is on map [{self.map}], replan count '
+                f'[{self.name}] is on map [{self.map_name}], replan count '
                 f'[{self.replan_counts}]'
             )
 

free_fleet_adapter/free_fleet_adapter/robot_adapter.py

@@ -24,6 +24,17 @@
 class RobotAdapter(ABC):
     """Abstract Robot Adapter to be used by the free fleet adapter."""
 
+    def __init__(
+        self,
+        name: str,
+        node,
+        fleet_handle
+    ):
+        self.name = name
+        self.node = node
+        self.fleet_handle = fleet_handle
+        self.update_handle = None
+
     """
     This method returns the battery state of charge as a float, with value
     between 0 and 1.0.
@@ -32,6 +43,14 @@ class RobotAdapter(ABC):
     def get_battery_soc(self) -> float:
         ...
 
+    """
+    This method returns the name of the current map that the robot is
+    localized on.
+    """
+    @abstractmethod
+    def get_map_name(self) -> str:
+        ...
+
     """
     This method returns the last known 2D position in meters and orientation
     (yaw) of the robot in radians as a list of 3 floats, in the form of