ROS1 move_base includes a "clear costmap recovery behavior" that clears space on a costmap.

For ROS2 navigation2, we'll implement a similar feature by adding to costmap_2d methods for cleaning specific layers and regions of it's structure. The logic for triggering the clearing of a costmap (as a recovery behavior) will be a responsability of the module coordinating the navigation task, i.e bt_navigator.

We'll implement it in phases:

• Add methods for cleaning specific layers of a costmap Add services for clearing the costmap #551, add it as a service. There are 3 clear_costmap type actions that exist in the ROS1 codebase.
  • A big reset of all layers
  • Clearing all locations in a region
  • Clearing all locations outside a region
• Define the situation to detect for triggering the clear costmap behavior. Implement the logic on the BTNavigator, create the corresponding BT nodes Implement the clear costmap behavior on BTNavigator #552.