ClearCostmapExceptRegion

Action to call a costmap clearing except region server.

Input Ports

reset_distance

Type	Default
double	1

Description

side size of the square area centered on the robot that will not be cleared on the costmap (all the rest of the costmap will)

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

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