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"/>