ClearCostmapAroundPose

Action to call a costmap clearing around a given pose server.

Input Ports

pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

Pose around which to clear the costmap.

reset_distance

Type: double Default: 1.0

Distance from the pose under which obstacles are cleared.

service_name

Type: string Default: N/A

Costmap service name responsible for clearing the costmap.

server_timeout

Type: chrono::milliseconds Default: N/A

Service server timeout (ms). If not provided, uses the BT Navigator's default_server_timeout parameter value (20 ms by default).

plugins

Type: vector<string> Default: N/A

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"/>