Plugin container layer docs

configuration/packages/configuring-costmaps.rst

@@ -349,6 +349,7 @@ Plugin Parameters
   costmap-plugins/voxel.rst
   costmap-plugins/range.rst
   costmap-plugins/denoise.rst
+  costmap-plugins/plugin_container.rst
 
 Costmap Filters Parameters
 **************************

configuration/packages/costmap-plugins/plugin_container.rst

@@ -0,0 +1,95 @@
+.. plugin_container:
+
+Plugin Container Layer Parameters
+=================================
+
+This implements a costmap layer which combines costmap layers within a submap, which can then be integrated with other submaps in the same parent costmap. An example would be the use of different inflation layers for different sensors, objects, or static layers  
+
+``<plugin container layer>`` is the corresponding plugin name selected for this type.
+
+:``<plugin container layer>``.enabled:
+
+  ==== =======
+  Type Default                                                   
+  ---- -------
+  bool True            
+  ==== =======
+
+  Description
+    Whether it is enabled.
+
+:``<plugin container layer>``.plugins:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  vector<string> {}
+  ============== =======
+
+  Description
+    List of mapped costmap layer names for parameter namespaces and names.
+
+  Note
+    Costmap filters are presently unsupported
+
+Example
+*******
+.. code-block:: yaml
+
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+
+      plugins: ["plugin_container_static_layer", "plugin_container_obstacle_layer"]
+
+      plugin_container_static_layer:
+        plugin: "nav2_costmap_2d::PluginContainerLayer"
+        enabled: True
+        combination_method: 1
+        plugins: ["static_layer", "inflation_layer"]
+        static_layer:
+          plugin: "nav2_costmap_2d::StaticLayer"
+          map_subscribe_transient_local: True
+        inflation_layer:
+          plugin: "nav2_costmap_2d::InflationLayer"
+          cost_scaling_factor: 2.0
+          inflation_radius: 0.5
+
+      plugin_container_obstacle_layer:
+        plugin: "nav2_costmap_2d::PluginContainerLayer"
+        enabled: True
+        combination_method: 1
+        plugins: ["obstacle_layer", "inflation_layer"]
+        obstacle_layer:
+          plugin: "nav2_costmap_2d::ObstacleLayer"
+          enabled: True
+          observation_sources: scan
+          scan:
+            topic: /scan
+            max_obstacle_height: 2.0
+            clearing: True
+            marking: True
+            data_type: "LaserScan"
+            raytrace_max_range: 3.0
+            raytrace_min_range: 0.0
+            obstacle_max_range: 2.5
+            obstacle_min_range: 0.0
+        inflation_layer:
+          plugin: "nav2_costmap_2d::InflationLayer"
+          cost_scaling_factor: 3.0
+          inflation_radius: 1.0
+
+The above example settings, when applied to the Nav2 turtlebot simulation would give the following costmap on startup
+
+.. figure:: plugin_container_layer.png
+    :align: center
+    :alt: Costmap generated by plugin container layer
+
+    Costmap generated by turtlebot using example plugin container layer settings
+

migration/Jazzy.rst

@@ -198,4 +198,9 @@ This can be useful, for example, in cases where you want to move the robot even
 
 Default value:
 
-- false
+- false
+
+New Plugin Container Layer
+**************************
+
+In `PR #4781 <https://github.com/ros-navigation/navigation2/pull/4781>`_ a costmap layer plugin type was added to support the grouping of different costmap layers under a single costmap layer. This would allow for different isolated combinations of costmap layers to be combined under one parent costmap instead of the current implementation which would indiscriminately combine all costmap layers together.

plugins/index.rst

@@ -70,6 +70,12 @@ Costmap Layers
 |                                |                        | standalone obstacles or small    |
 |                                |                        | obstacles groups                 |
 +--------------------------------+------------------------+----------------------------------+
+| `Plugin Container Layer`_      |  Alexander Yuen        | Combines the different costmap   |
+|                                |                        | layers specified under this      |
+|                                |                        | layer in order populate the same |
+|                                |                        | costmap with different isolated  |
+|                                |                        | combinations of costmap layers   |
++--------------------------------+------------------------+----------------------------------+
 
 .. _Voxel Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/voxel_layer.cpp
 .. _Static Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/static_layer.cpp
@@ -79,6 +85,7 @@ Costmap Layers
 .. _Spatio-Temporal Voxel Layer: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/
 .. _Non-Persistent Voxel Layer: https://github.com/SteveMacenski/nonpersistent_voxel_layer
 .. _Denoise Layer: https://github.com/ryzhikovas/navigation2/tree/feature-costmap2d-denoise/nav2_costmap_2d/plugins/denoise_layer.cpp
+.. _Plugin Container Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/plugin_container_layer.cpp
 
 Costmap Filters
 ===============

tuning/index.rst

@@ -133,6 +133,7 @@ Costmap2D has a number of plugins that you can use (including the availability f
 - ``SpatioTemporalVoxelLayer``: 3D costmap layer for 3D lidars, non-planar 2D lidars, or depth camera processing based on temporal decay. Useful for robots with high sensor coverage like 3D lidars or many depth cameras at a reduced computational overhead due to lack of raycasting.
 - ``RangeLayer``: Models sonars, IR sensors, or other range sensors for costmap inclusion
 - ``DenoiseLayer``: Removes salt and pepper noise from final costmap in order to remove unfiltered noise. Also has the option to remove clusters of configurable size to remove effects of dynamic obstacles without temporal decay.
+- ``PluginContainerLayer``: Combines the costmap layers specified within this plugin, resulting in an internal costmap that is a product of the costmap layers specified under this layer. This would allow different isolated combinations of costmap layers within the same parent costmap, such as applying a different inflation layers to static layers and obstacle layers 
 
 In addition, costmap filters:
 - ``KeepoutFilter``: Marks keepout, higher weighted, or lower weighted zones in the costmap