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"/>