Feature request

Feature description

I would like to propose an enhancement to the existing clear_costmap_service by adding a new service that allows clearing the costmap around a specified pose. This is particularly useful in scenarios where the planner fails due to outdated costmap data at the goal location which is outside of your obstacle/raytrace range—often caused by dynamic obstacles that have since moved. Instead of clearing the entire costmap as a recovery behavior, this feature would enable targeted clearing, preserving useful map data.

Implementation considerations

• Define a new service type: ClearCostmapAroundPose.srv, which includes:

geometry_msgs/PoseStamped pose: the center of the area to clear
float64 reset_distance: the radius around the pose to clear

• Add a new service server to nav2_costmap_2d under the existing clear_costmap_service node.

• Extend the clear_costmap_service BT plugin to support this new service client.

If the maintainers agree with this direction, I’d be happy to take ownership of the implementation.