ClearCostmapAroundRobot

Action to call a costmap clearing around robot server.

Input Ports

reset_distance

Type: double Default: 1.0

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: 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

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