ClearCostmapAroundPose

Action to call a costmap clearing around a given pose server.

Input Ports

pose

Type

Default

geometry_msgs::msg::PoseStamped

N/A

Description

Pose around which to clear the costmap

reset_distance

Type

Default

double

1.0

Description

Distance from the pose under which obstacles are cleared

service_name

Type

Default

string

N/A

Description

costmap service name responsible for clearing the costmap.

server_timeout

Type

Default

double

10

Description

Action server timeout (ms).

Example

<ClearCostmapAroundPose name="ClearLocalCostmapAroundPose"
                        service_name="local_costmap/clear_around_pose_local_costmap"
                        pose="{goal_pose}"
                        reset_distance="2.0"/>