ClearEntireCostmap

Action to call a costmap clearing server.

Input Ports

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 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"/>