Feature Request: Add "plugins" Parameter to BT XML for Selective Clearing of Costmap Layers

[BCKSELFDRIVEWORLD]

Feature request

Feature description

Currently, the costmap clearing service clears all clearable layers. However, there are use cases where a user may want to clear only specific costmap layers (e.g., only the "keepout_filter" layer) instead of all available layers. This feature request proposes to add a "plugins" parameter in the BT XML configuration.

Implementation considerations

<ClearEntireCostmap name="ClearingActionsLocalCostmap" service_name="local_costmap/clear_entirely_local_costmap" plugins="keepout_filter"/>

[SteveMacenski]

Seems easy enough, the clearing service msg would need to be adjusted to contain a vector of strings (default empty; clear all) and then the service look at the pliugins' names to decide whether it should be cleared.

I'd welcome a PR :-)

[BCKSELFDRIVEWORLD]

Thanks for fast feedback.I will send pr ASAP.

[SteveMacenski]

@BCKSELFDRIVEWORLD any update? 😄

[BCKSELFDRIVEWORLD]

i tested on humble didn't see any issues. I plan to test it on Docker and open a PR before the week is over.

[SteveMacenski]

Great, thanks!

[SteveMacenski]

@BCKSELFDRIVEWORLD any update on that work? :-)

[padhupradheep]

@BCKSELFDRIVEWORLD one more nudge? we would love to have this feature in!

[padhupradheep]

@BCKSELFDRIVEWORLD if it could help, I'd be happy to lend a hand in testing you in rolling and jazzy. If that could help clearing this issue away.