ClearCostmapAroundRobot not in Groot

[MrOCW]

Bug report

Required Info:

• Operating System:
  • Jetpack 4.6.1 (Ubuntu 18.04) running Ubuntu 22.04 docker container
• ROS2 Version:
  • Humble binaries
• Version or commit hash:
  • latest apt
• DDS implementation:
  • CycloneDDS

Steps to reproduce issue

Import node palette into Groot from /opt/ros/humble/nav2_behaviour_tree/nav2_tree_nodes.xml

Expected behavior

ClearCostmapAroundRobot to appear in the palette

Actual behavior

Only ClearEntireCostmap is available

Additional information

During contextual recovery, clear entire costmap is used but it takes a very long time for the global costmap to appear again after being cleared, likely due to a large static map, which almost caused a collision as there is no global costmap for the global planner to identify obstacles. Will using ClearCostmapAroundRobot speed up the time needed for the global costmap to appear again?

Replacing ClearEntireCostmap with ClearCostmapAroundRobot manually in the xml file does not produce errors but the costmap doesnt clear around the robot anyways. Manually calling the service doesnt clear it as well. I get this message whenever contextual recovery or recovery subtree gets ticked.
[bt_navigator-11] [WARN] [1660115595.034508823] [bt_navigatornavigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_around_global_costmap

[SteveMacenski]

It can be added to https://github.com/ros-planning/navigation2/blob/main/nav2_behavior_tree/nav2_tree_nodes.xml, would you mind submitting a PR to add this missing BT node so you can use it in groot? I'd be happy to merge it.

ClearCostmapExceptRegion is also missing, might be good to add them both. They both only have 1 input port reset_distance.

[enesbedir1]

Hİ @SteveMacenski I created a pr #3155 for the issue
I would be appreciated if you consider reviewing it.

[SteveMacenski]

Merged!