From 9510a52f5e8aabf021445d8ad35f7bb9b8942c1e Mon Sep 17 00:00:00 2001
From: Abdullah Enes Bedir <abdullahbedir70@gmail.com>
Date: Sat, 27 Aug 2022 07:18:47 +0300
Subject: [PATCH] missing nodes added to nav2_tree_nodes.xml

---
 nav2_behavior_tree/nav2_tree_nodes.xml | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index c34a171fc8..62a5f1f482 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -33,7 +33,7 @@
       <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
-    <Action ID="DriveOnHeadingCancel">
+    <Action ID="CancelDriveOnHeading">
       <input_port name="service_name">Service name to cancel the drive on heading behavior</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
     </Action>
@@ -58,6 +58,18 @@
       <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
+    <Action ID="ClearCostmapExceptRegion">
+      <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+      <input_port name="reset_distance">Distance from the robot above which obstacles are cleared</input_port>
+    </Action>
+
+    <Action ID="ClearCostmapAroundRobot">
+      <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+      <input_port name="reset_distance">Distance from the robot under which obstacles are cleared</input_port>
+    </Action>
+
     <Action ID="ComputePathToPose">
       <input_port name="goal">Destination to plan to</input_port>
       <input_port name="start">Start pose of the path if overriding current robot pose</input_port>