diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
index 46d79bd9df5..2d74530b436 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
@@ -67,7 +67,6 @@ class ClearCostmapService
 
   // Clearing parameters
   unsigned char reset_value_;
-  std::vector<std::string> clearable_layers_;
 
   // Server for clearing the costmap
   rclcpp::Service<nav2_msgs::srv::ClearCostmapExceptRegion>::SharedPtr clear_except_service_;
diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
index 61c23881124..4a97b9ae1ca 100644
--- a/nav2_costmap_2d/src/clear_costmap_service.cpp
+++ b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -40,8 +40,6 @@ ClearCostmapService::ClearCostmapService(
   logger_ = node->get_logger();
   reset_value_ = costmap_.getCostmap()->getDefaultValue();
 
-  node->get_parameter("clearable_layers", clearable_layers_);
-
   clear_except_service_ = node->create_service<ClearExceptRegion>(
     "clear_except_" + costmap_.getName(),
     std::bind(
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 5fbd1beea8e..6c57949062e 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -85,8 +85,6 @@ Costmap2DROS::Costmap2DROS(
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
 
-  std::vector<std::string> clearable_layers{"obstacle_layer", "voxel_layer", "range_layer"};
-
   declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
   declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
   declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
@@ -113,7 +111,6 @@ Costmap2DROS::Costmap2DROS(
   declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
   declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
   declare_parameter("use_maximum", rclcpp::ParameterValue(false));
-  declare_parameter("clearable_layers", rclcpp::ParameterValue(clearable_layers));
 }
 
 Costmap2DROS::~Costmap2DROS()