fix typo and reset ports

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

Author: BCKSELFDRIVEWORLD

nav2_behavior_tree/plugins/action/clear_costmap_service.cpp

@@ -33,6 +33,8 @@ void ClearEntireCostmapService::on_tick()
   std::vector<std::string> plugins;
   if (getInput("plugins", plugins)) {
     request_->plugins = plugins;
+  } else {
+    request_->plugins = std::vector<std::string>();
   }
   increment_recovery_count();
 }
@@ -50,6 +52,8 @@ void ClearCostmapExceptRegionService::on_tick()
   std::vector<std::string> plugins;
   if (getInput("plugins", plugins)) {
     request_->plugins = plugins;
+  } else {
+    request_->plugins = std::vector<std::string>();
   }
 
   increment_recovery_count();
@@ -69,6 +73,8 @@ void ClearCostmapAroundRobotService::on_tick()
   std::vector<std::string> plugins;
   if (getInput("plugins", plugins)) {
     request_->plugins = plugins;
+  } else {
+    request_->plugins = std::vector<std::string>();
   }
 
   increment_recovery_count();
@@ -89,6 +95,8 @@ void ClearCostmapAroundPoseService::on_tick()
   std::vector<std::string> plugins;
   if (getInput("plugins", plugins)) {
     request_->plugins = plugins;
+  } else {
+    request_->plugins = std::vector<std::string>();
   }
 
   increment_recovery_count();

nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp

@@ -64,7 +64,9 @@ class ClearCostmapService
   /**
    * @brief Clears the region around a specific pose
    */
-  void clearAroundPose(const geometry_msgs::msg::PoseStamped & pose, double reset_distance, const std::vector<std::string> & plugins);
+  void clearAroundPose(
+    const geometry_msgs::msg::PoseStamped & pose, double reset_distance,
+    const std::vector<std::string> & plugins);
 
   /**
    * @brief Clears all layers

nav2_costmap_2d/src/clear_costmap_service.cpp

@@ -155,7 +155,9 @@ void ClearCostmapService::clearAroundPose(
   }
 }
 
-void ClearCostmapService::clearRegion(const double reset_distance, bool invert, const std::vector<std::string> & plugins)
+void ClearCostmapService::clearRegion(
+  const double reset_distance, bool invert,
+  const std::vector<std::string> & plugins)
 {
   double x, y;