https://blog.csdn.net/wuliyanyan/article/details/60570566
调用这个包,会将global_costmap和local_costmap中给定半径(reset_distance默认值3.0)范围之外的区域进行清理,即将栅格占有或者非占有状态清除为未知。
void ClearCostmapRecovery::clearMap(boost::shared_ptr<costmap_2d::CostmapLayer> costmap,double pose_x, double pose_y)
具体流程: