Add plugins Parameter to BT XML for Selective Clearing of Costmap Layers by BCKSELFDRIVEWORLD · Pull Request #5548 · ros-navigation/navigation2

BCKSELFDRIVEWORLD · 2025-09-23T18:24:43Z

PR #5400 was broken due to my mistake

Basic Info

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Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

codecov · 2025-09-23T19:32:12Z

Codecov Report

❌ Patch coverage is 51.19048% with 41 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/src/clear_costmap_service.cpp	42.10%	33 Missing ⚠️
...vior_tree/plugins/action/clear_costmap_service.cpp	60.00%	8 Missing ⚠️

Files with missing lines	Coverage Δ
...vior_tree/plugins/action/clear_costmap_service.hpp	`100.00% <100.00%> (ø)`
...vior_tree/plugins/action/clear_costmap_service.cpp	`83.67% <60.00%> (-16.33%)`	⬇️
nav2_costmap_2d/src/clear_costmap_service.cpp	`40.74% <42.10%> (+4.91%)`	⬆️

... and 5 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

nav2_costmap_2d/src/clear_costmap_service.cpp

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp

nav2_behavior_tree/plugins/action/clear_costmap_service.cpp

nav2_costmap_2d/src/clear_costmap_service.cpp

nav2_msgs/srv/ClearEntireCostmap.srv

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp

nav2_behavior_tree/plugins/action/clear_costmap_service.cpp

BCKSELFDRIVEWORLD · 2025-09-25T15:32:41Z

thanks for reviews @Sushant-Chavan

Sushant-Chavan

LGTM.

Awaiting Steve's comment regarding the response from the service in case a requested costmap plugin could not be cleared.

nav2_msgs/srv/ClearEntireCostmap.srv

nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp

nav2_costmap_2d/src/clear_costmap_service.cpp

SteveMacenski · 2025-09-26T15:50:51Z

A number of tests related to code changes are now failing

BCKSELFDRIVEWORLD · 2025-09-29T14:29:25Z

If a requested plugin is not clearable, is it enough to skip it and reset the master, since I already log it? @Sushant-Chavan I’d appreciate your review on this

nav2_costmap_2d/src/clear_costmap_service.cpp

Sushant-Chavan · 2025-09-29T15:48:52Z

If a requested plugin is not clearable, is it enough to skip it and reset the master, since I already log it?

I think if atleast one layer was reset, we should reset the master costmap. Otherwise we shouldn't.

I also think that once you find a non-clearable plugin that was requested to be cleared by the client, you should stop clearing any further requested plugins. Then reset the master costmap (if any previous plugins were reset), and return a failure response. Do you agree @SteveMacenski ?

BCKSELFDRIVEWORLD · 2025-09-29T18:09:33Z

I think if atleast one layer was reset, we should reset the master costmap. Otherwise we shouldn't.

i agree too

I also think that once you find a non-clearable plugin that was requested to be cleared by the client, you should stop clearing any further requested plugins. Then reset the master costmap (if any previous plugins were reset), and return a failure response

I think the service response should only return false if a plugin is clearable but fails to clear.

If a plugin is not clearable, we just log a warning and skip it.
If a plugin is clearable but could not be cleared, then the service should return false.

SteveMacenski · 2025-09-29T19:51:44Z

I also think that once you find a non-clearable plugin that was requested to be cleared by the client, you should stop clearing any further requested plugins. Then reset the master costmap (if any previous plugins were reset), and return a failure response. Do you agree @SteveMacenski ?

I agree.

I believe that @BCKSELFDRIVEWORLD implemented this in the last few commits, please re-review @Sushant-Chavan when you have a moment. Thanks for your time!

BCKSELFDRIVEWORLD · 2025-09-30T07:14:17Z

Summary i belive that true implementation:

Return false when:

A clearable layer fails to clear.
All requested plugins are non-clearable.(In this case, no reset is triggered and no actual clearing occurs, so the service should indicate failure.)

Return true when:

At least one clearable layer was successfully cleared and the master costmap reset succeeded.
Some plugins were skipped as non-clearable, but at least one clearable plugin was successfully cleared.

Skipping non-clearable layers should not by itself cause the service to return false. user may provide a mixed list of plugins, and as long as at least one clearable layer was cleared, the request is considered successful. Our only additional responsibility in these cases is to log or inform that some plugins were skipped, without treating that as a failure condition.

SteveMacenski · 2025-09-30T16:39:12Z

I think I agree with @Sushant-Chavan that if a user requests layers to clear explicitly (rather than 'clear all') all of those should be valid. If its not valid, its not a valid request and that should be made clear to a caller in more than just logging.

Whether we fail immediately or continue (and log all errors) and then return fail is up for debate. I would generally say 'do everything asked' rather than failing fast so that the state at the end of the service call is known for as much as it can be - there's no question about which was executed and which was not. However, I agree with the failure return as the application requesting specific layers should know better and that's a failure that's worth notifying the caller.

SteveMacenski · 2025-10-16T15:11:09Z

@BCKSELFDRIVEWORLD any update? I'd love to get this in this week!

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

…lear_costmap_service.hpp Co-authored-by: Sushant Chavan <gitecsvc@gmail.com> Signed-off-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com> Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

…ce responses Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

…ng cleared Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

… methods Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD · 2025-11-03T15:41:55Z

@SteveMacenski I’ve completed all the requested changes and attached a few screenshots.
Some of the tests were failing because of the boolean conversions, so I made a small fix for that.
I’m not entirely sure if this is the correct implementation since I don’t have much experience with this part, but the tests are now passing.Please let me know if you have any suggestions for improving it.

BCKSELFDRIVEWORLD · 2025-11-03T15:44:38Z

another case:

SteveMacenski · 2025-11-19T18:11:14Z

Sorry you missed me from leaving for Singapore for ROSCon. I'm back now.

@Sushant-Chavan does this meet your needs?

mini-1235

A bit late to join the discussion here, but just to confirm my understanding: the idea is to return false if clearing any of the specified plugins fails, yes?

I can see that this PR is missing a significant amount of code coverage. The documentation PR also needs to be updated

BCKSELFDRIVEWORLD · 2025-12-15T12:39:22Z

Yes. If the review is approved, I can follow up by adding the necessary tests to improve coverage.

I’ll also update the documentation

SteveMacenski · 2026-01-22T02:42:36Z

@Sushant-Chavan are you back yet to take a look?

Sushant-Chavan

Sorry for the delay. I just returned back from my vacation.

The PR looks good now. Just a few more fixes required IMO.

nav2_system_tests/src/behavior_tree/server_handler.hpp

nav2_costmap_2d/src/clear_costmap_service.cpp

Sushant-Chavan · 2026-01-26T10:43:38Z

nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp


  /**
   * @brief Clears the region outside of a user-specified area reverting to the static map
+   * @return true if at least one layer was successfully cleared, false otherwise


Suggested change

* @return true if at least one layer was successfully cleared, false otherwise

* @return true if all the requested plugins were successfully cleared, false otherwise

Same for clearAroundPose and clearEntirely methods below

mergify · 2026-01-27T23:22:23Z

This pull request is in conflict. Could you fix it @BCKSELFDRIVEWORLD?

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Signed-off-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com>

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

SteveMacenski · 2026-01-28T01:46:03Z

@BCKSELFDRIVEWORLD ping @Sushant-Chavan again when you've addressed all his comments please :-)

SteveMacenski reviewed Sep 23, 2025

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BCKSELFDRIVEWORLD mentioned this pull request Sep 23, 2025

Add 'plugins' input port to costmap clearing actions with detailed description ros-navigation/docs.nav2.org#777

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BCKSELFDRIVEWORLD requested a review from SteveMacenski September 24, 2025 06:08

Sushant-Chavan suggested changes Sep 25, 2025

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Sushant-Chavan reviewed Sep 25, 2025

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nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp Show resolved Hide resolved

BCKSELFDRIVEWORLD force-pushed the clear_costmap_bck branch 2 times, most recently from 9aa9b0b to 584d698 Compare September 25, 2025 12:46

Sushant-Chavan suggested changes Sep 25, 2025

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Sushant-Chavan approved these changes Sep 25, 2025

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BCKSELFDRIVEWORLD requested a review from SteveMacenski September 25, 2025 22:01

Sushant-Chavan reviewed Sep 26, 2025

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BCKSELFDRIVEWORLD requested a review from Sushant-Chavan September 29, 2025 14:32

Sushant-Chavan suggested changes Sep 29, 2025

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BCKSELFDRIVEWORLD requested a review from Sushant-Chavan September 30, 2025 12:58

BCKSELFDRIVEWORLD and others added 5 commits October 29, 2025 15:51

Add plugins Parameter to BT XML for Selective Clearing of Costmap Layers

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

fix typo

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

remove TODO

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD added 10 commits October 29, 2025 15:51

Add on_completion methods to ClearCostmap services for handling servi…

a987655

…ce responses Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

fix typo

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

ClearCostmapService to return success status based on all plugins bei…

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…ng cleared Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

added log(error)

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

fix typo

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Updated the logic

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

added logs

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

improve logic

a1b6eca

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

fix typo

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

added dummy_Server

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD force-pushed the clear_costmap_bck branch from 40d295a to b8b88af Compare October 29, 2025 12:52

BCKSELFDRIVEWORLD and others added 3 commits October 29, 2025 17:22

ClearCostmapService to introduce plugin validation and categorization…

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… methods Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Merge branch 'ros-navigation:main' into clear_costmap_bck

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fix typo

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

mini-1235 suggested changes Dec 15, 2025

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Sushant-Chavan suggested changes Jan 26, 2026

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BCKSELFDRIVEWORLD added 2 commits January 28, 2026 02:34

Rename DummyClearCostmapService to DummyClearEntireCostmapService

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

Add unit tests for ClearCostmapService

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD force-pushed the clear_costmap_bck branch from 6ba5df8 to 962b85c Compare January 27, 2026 23:34

BCKSELFDRIVEWORLD and others added 2 commits January 28, 2026 02:44

Merge branch 'main' into clear_costmap_bck

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Signed-off-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com>

cmake

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Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD and others added 2 commits January 28, 2026 21:45

simplify plugin validation and remove unused code

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Merge branch 'ros-navigation:main' into clear_costmap_bck

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	* @return true if at least one layer was successfully cleared, false otherwise
	* @return true if all the requested plugins were successfully cleared, false otherwise

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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

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