Class ClearCostmapAroundPoseService

• Defined in File clear_costmap_service.hpp

Inheritance Relationships

Base Type

• public nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::ClearCostmapAroundPose > (Template Class BtServiceNode)

Class Documentation

class ClearCostmapAroundPoseService : public nav2_behavior_tree::BtServiceNode<nav2_msgs::srv::ClearCostmapAroundPose>

A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearCostmapAroundPose.

Note

This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.

Public Functions

ClearCostmapAroundPoseService(const std::string &service_node_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::ClearCostmapAroundPoseService.

Parameters:

• service_node_name – Service name this node creates a client for

• conf – BT node configuration

virtual void on_tick() override

The main override required by a BT service.

Returns:

BT::NodeStatus Status of tick execution

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports