<> <> == Overview == The `clear_costmap_recovery::ClearCostmapRecovery` is a simple recovery behavior that clears out space in the navigation stack's [[costmap_2d | costmaps]] by reverting to the static map outside of a given radius away from the robot. It adheres to the `nav_core::RecoveryBehavior` interface found in the [[nav_core]] package and can be used as a recovery behavior [[pluginlib | plugin]] for the [[move_base]] node. == ClearCostmapRecovery == The `clear_costmap_recovery::ClearCostmapRecovery` object exposes its functionality as a [[navigation/ROS_Wrappers | C++ ROS Wrapper]]. It operates within a ROS namespace (assumed to be '''name''' from here on) specified on initialization. It adheres to the `nav_core::RecoveryBehavior` interface found in the [[nav_core]] package. Example creation of a `clear_costmap_recovery::ClearCostmapRecovery` object: {{{ #!cplusplus #include #include #include ... tf::TransformListener tf(ros::Duration(10)); costmap_2d::Costmap2DROS global_costmap("global_costmap", tf); costmap_2d::Costmap2DROS local_costmap("local_costmap", tf); clear_costmap_recovery::ClearCostmapRecovery ccr; ccr.initialize("my_clear_costmap_recovery", &tf, &global_costmap, &local_costmap); ccr.runBehavior(); }}} === API Stability === * The C++ API is stable. * The ROS API is stable. === ROS Parameters === {{{ #!clearsilver CS/NodeAPI param { no_header=True 0.name = ~/reset_distance 0.default = 3.0 0.type = double 0.desc = The radius away from the robot in meters outside which obstacles will be removed from the costmaps when they are reverted to the static map. } }}} === C++ API === The C++ `clear_costmap_recovery::ClearCostmapRecovery` class adheres to the `nav_core::RecoveryBehavior` interface found in the [[nav_core]] package. For detailed documentation, please see [[http://www.ros.org/doc/api/clear_costmap_recovery/html/classclear__costmap__recovery_1_1ClearCostmapRecovery.html | ClearCostmapRecovery Documentation]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage ## CategoryPackageROSPKG