ClearCostmapAroundRobot

Action to call a costmap clearing around robot server.

Input Ports

reset_distance:
Type Default
double 1
Description

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 Default
string N/A
Description

costmap service name responsible for clearing the costmap.

server_timeout:
Type Default
double 10
Description

Action server timeout (ms).

Example

<ClearCostmapAroundRobot name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_around_local_costmap"/>