diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
index 922478bb0dd..18039f4298f 100644
--- a/nav2_costmap_2d/src/clear_costmap_service.cpp
+++ b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -129,8 +129,8 @@ void ClearCostmapService::clearLayerRegion(
   double end_point_y = start_point_y + reset_distance;
 
   int start_x, start_y, end_x, end_y;
-  costmap->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y);
-  costmap->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y);
+  costmap->worldToMapEnforceBounds(start_point_x, start_point_y, start_x, start_y);
+  costmap->worldToMapEnforceBounds(end_point_x, end_point_y, end_x, end_y);
 
   costmap->clearArea(start_x, start_y, end_x, end_y, invert);