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clear_composite_map

Service type: map_manager/srv/ClearCompositeMap

Service name: /clear_composite_map

Description​

Clears the current runtime map. It does not delete saved archives; use DeleteMapArchive to delete an archive.

Request (Request)​

FieldTypeDescription
dummyboolCompatibility field; ignored.

Response (Response)​

FieldTypeDescription
successboolWhether the operation succeeded.
messagestringResult or error message.

Example​

Complete Environment Preparation first: the CLI examples require ROBOT_NAMESPACE to be set; the Python and C++ examples use relative service names, so append --ros-args -r __ns:=$ROBOT_NAMESPACE when running them.

CLI call​

Bash
ros2 service call $ROBOT_NAMESPACE/clear_composite_map map_manager/srv/ClearCompositeMap \
  "{dummy: false}"

Python example​

Python
import rclpy
from rclpy.node import Node
from map_manager.srv import ClearCompositeMap


rclpy.init()
node = Node('map_clearer')
client = node.create_client(ClearCompositeMap, 'clear_composite_map')
client.wait_for_service()
request = ClearCompositeMap.Request()
request.dummy = False
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
print(future.result().message)
node.destroy_node()
rclpy.shutdown()

C++ example​

C++
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <map_manager/srv/clear_composite_map.hpp>

auto node = std::make_shared<rclcpp::Node>("map_clearer");
auto client = node->create_client<map_manager::srv::ClearCompositeMap>(
    "clear_composite_map");
client->wait_for_service();

auto request = std::make_shared<map_manager::srv::ClearCompositeMap::Request>();
request->dummy = false;
auto future = client->async_send_request(request);
if (rclcpp::spin_until_future_complete(node, future) ==
    rclcpp::FutureReturnCode::SUCCESS) {
    RCLCPP_INFO(node->get_logger(), "%s", future.get()->message.c_str());
}