ClearEntireCostmap

Action to call a costmap clearing server.

Input Ports

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 and the master costmap will be cleared. Otherwise, the entire costmap will be cleared.

Example

<ClearEntireCostmap name="ClearLocalCostmap-Subtree"
                    service_name="local_costmap/clear_entirely_local_costmap"
                    plugins="obstacle_layer;voxel_layer"/>