ClearCostmapAroundRobot

Action to call a costmap clearing around robot server.

Input Ports

reset_distance

Type	Default
double	1

Description

side size of the square area centered on the robot that will be cleared on the costmap (the rest of the costmap won’t)

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

<ClearCostmapAroundRobot name="ClearLocalCostmap-Subtree"
                         service_name="local_costmap/clear_around_local_costmap"
                         reset_distance="2.0"
                         plugins="obstacle_layer;voxel_layer"/>