missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155)

jwallace42 · Dec 14, 2022 · 3360f18 · 3360f18
1 parent 7a18064
commit 3360f18
Showing 1 changed file with 13 additions and 1 deletion.
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -33,7 +33,7 @@
  <input_port name="server_timeout">Server timeout</input_port>
  </Action>
 
- <Action ID="DriveOnHeadingCancel">
+ <Action ID="CancelDriveOnHeading">
  <input_port name="service_name">Service name to cancel the drive on heading behavior</input_port>
  <input_port name="server_timeout">Server timeout</input_port>
  </Action>
@@ -58,6 +58,18 @@
  <input_port name="server_timeout">Server timeout</input_port>
  </Action>
 
+ <Action ID="ClearCostmapExceptRegion">
+ <input_port name="service_name">Service name</input_port>
+ <input_port name="server_timeout">Server timeout</input_port>
+ <input_port name="reset_distance">Distance from the robot above which obstacles are cleared</input_port>
+ </Action>
+
+ <Action ID="ClearCostmapAroundRobot">
+ <input_port name="service_name">Service name</input_port>
+ <input_port name="server_timeout">Server timeout</input_port>
+ <input_port name="reset_distance">Distance from the robot under which obstacles are cleared</input_port>
+ </Action>
+
  <Action ID="ComputePathToPose">
  <input_port name="goal">Destination to plan to</input_port>
  <input_port name="start">Start pose of the path if overriding current robot pose</input_port>