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Indeed, we have services that implement the following messages: https://github.com/ros-planning/navigation2/tree/main/nav2_msgs/srv

Included there are full and partial costmap clearing operations. You can see an example of these in use in the BT navigator's clearing costmap BT node plugins. That's where we handle that logic in Nav2 rather than move_base. You can see a pythonic example in the nav2_simple_navigator I added last year which implements the core action APIs for using Nav2 in python without worrying about the ROS details (for the basic use-case): https://github.com/ros-planning/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/robot_navigator.py#L293-L300

Indeed, we have services that implement the following messages: https://github.com/ros-planning/navigation2/tree/main/nav2_msgs/srv

Included there are full and partial costmap clearing operations. You can see an example of these in use in the BT navigator's clearing costmap BT node plugins. That's where we handle that logic in Nav2 rather than move_base. You can see a pythonic example in the nav2_simple_navigator I added last year which implements the core action APIs for using Nav2 in python without worrying about the ROS details (for the basic use-case): https://github.com/ros-planning/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/robot_navigator.py#L293-L300