ROS2 NAV2 获取全局地图接口不能指定获取位置

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nav2 提供的service 话题/global_costmap/global_costmap定义:

nav2_msgs/CostmapMetaData specs
	builtin_interfaces/Time map_load_time
		int32 sec
		uint32 nanosec
	builtin_interfaces/Time update_time
		int32 sec
		uint32 nanosec
	string layer
	float32 resolution
	uint32 size_x
	uint32 size_y
	geometry_msgs/Pose origin
		Point position
			float64 x
			float64 y
			float64 z
		Quaternion orientation
			float64 x 0
			float64 y 0
			float64 z 0
			float64 w 1

从接口定义来看入参支持设置获取的地图位置和大小，但实际测试无论参数填什么都会传回整张地图
查看了源码:

void
Costmap2DPublisher::costmap_service_callback(
  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
  const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request>/*request*/,
  const std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response)
{
  RCLCPP_DEBUG(logger_, "Received costmap service request");

  // TODO(bpwilcox): Grab correct orientation information
  tf2::Quaternion quaternion;
  quaternion.setRPY(0.0, 0.0, 0.0);

  auto size_x = costmap_->getSizeInCellsX();
  auto size_y = costmap_->getSizeInCellsY();
  auto data_length = size_x * size_y;
  unsigned char * data = costmap_->getCharMap();
  auto current_time = clock_->now();

  response->map.header.stamp = current_time;
  response->map.header.frame_id = global_frame_;
  response->map.metadata.size_x = size_x;
  response->map.metadata.size_y = size_y;
  response->map.metadata.resolution = costmap_->getResolution();
  response->map.metadata.layer = "master";
  response->map.metadata.map_load_time = current_time;
  response->map.metadata.update_time = current_time;
  response->map.metadata.origin.position.x = costmap_->getOriginX();
  response->map.metadata.origin.position.y = costmap_->getOriginY();
  response->map.metadata.origin.position.z = 0.0;
  response->map.metadata.origin.orientation = tf2::toMsg(quaternion);
  response->map.data.resize(data_length);
  response->map.data.assign(data, data + data_length);
}

确实是没用使用用户填入的参数，是接口功能没实现完整吗？或者有什么接口能获取到指定位置的地图？