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).

plugins

Type	Default
std::vector<string>	N/A

Description

Optional. A list of costmap plugin names to be cleared. If specified, only these costmap plugins will be cleared. Otherwise, all “clearable” costmap plugins will be cleared.

Example

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