#  Cleanup local grids service
# 
#     Clear empty space from local occupancy grids 
#     (and laser scans) based on the current optimized global 2d grid map.
#     If the map needs to be regenerated in the future (e.g., when
#     we re-use the map in SLAM mode), removed obstacles won't reappear.
#     Use this with care and only when you know that the map doesn't have errors, 
#     otherwise some real obstacles/walls may be cleared if there is too much 
#     drift in the map.
#

# Radius in cells around empty cell without obstacles to clear underlying obstacles, default 1 cell if not set.
int32 radius

# Filter also the scans, default false if not set.
# The filtered laser scans will be used for localization,
# so if dynamic obstacles have been removed, localization won't try to
# match them anymore. Filtering the laser scans cannot be reverted, 
# but grids can (see DatabaseViewer->Edit menu).
bool filter_scans

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# return the number of grids or scans modified, -1 if there is an error
int32 modified