ClearCostmapExceptRegion

Action to call a costmap clearing except region server.

Input Ports

reset_distance

Type: double Default: 1.0

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: 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

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