ClearCostmapExceptRegion Service

Package: nav2_msgs
Category: Costmap Services

Clear entire costmap except for a specified rectangular region

Message Definitions

Request Message

Field Type Description
reset_distance float32 Clears the costmap except a rectangular region specified by reset_distance

Response Message

Field Type Description
response std_msgs/Empty Response message or data

Usage Examples

Python

import rclpy
from rclpy.node import Node
from nav2_msgs.srv import ClearCostmapExceptRegion

class ClearCostmapExceptRegionClient(Node):
    def __init__(self):
        super().__init__('clear_costmap_except_region_client')
        self.client = self.create_client(ClearCostmapExceptRegion, 'clear_costmap_except_region')
        
    def send_request(self):
        request = ClearCostmapExceptRegion.Request()
        request.reset_distance = 0.0
        
        self.client.wait_for_service()
        future = self.client.call_async(request)
        return future

def main():
    rclpy.init()
    client = ClearCostmapExceptRegionClient()
    
    future = client.send_request()
    rclpy.spin_until_future_complete(client, future)
    
    if future.result():
        client.get_logger().info('Service call completed')
    else:
        client.get_logger().error('Service call failed')
        
    client.destroy_node()
    rclpy.shutdown()

C++

#include "rclcpp/rclcpp.hpp"
#include "nav2_msgs/srv/clear_costmap_except_region.hpp"

class ClearCostmapExceptRegionClient : public rclcpp::Node
{
public:
    ClearCostmapExceptRegionClient() : Node("clear_costmap_except_region_client")
    {
        client_ = create_client<nav2_msgs::srv::ClearCostmapExceptRegion>("clear_costmap_except_region");
    }

    void send_request()
    {
        auto request = std::make_shared<nav2_msgs::srv::ClearCostmapExceptRegion::Request>();
        request->reset_distance = 0.0;

        client_->wait_for_service();
        
        auto result_future = client_->async_send_request(request);
        if (rclcpp::spin_until_future_complete(shared_from_this(), result_future) ==
            rclcpp::FutureReturnCode::SUCCESS)
        {
            RCLCPP_INFO(get_logger(), "Service call completed");
        }
        else
        {
            RCLCPP_ERROR(get_logger(), "Service call failed");
        }
    }

private:
    rclcpp::Client<nav2_msgs::srv::ClearCostmapExceptRegion>::SharedPtr client_;
};