nav2_costmap_2d plugin container layer

[alexanderjyuen]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of turtlebot)
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Added a new costmap layer plugin to nav2_costmap_2d called plugin container layer which allows users to specify different submaps within a costmap. For example if one would like to apply a certain set of inflation layer settings to the static layer, and a different set of inflation layer settings to an obstacle layer, in the same overall costmap, one could group those different layers under different plugin container layers

• Modified nav2_costmap_2d integrated testing to also run tests for the plugin container layer

• included nav2_params_plugin_container_layer.yaml to run turtlebot example

Description of documentation updates required from your changes

• Configuring Costmap needs to include plugin container layer in the Plugin Parameters section
• A new page has been added to outline how to configure the plugin container layer
• Navigation Plugins need to include plugin container layer in Costmap Layer section
• Tuning Guide needs to include plugin container layer in the Costmap2D Plugins section

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Future work that may be required in bullet points

• This could be possible extended to be used with costmap filters, although filters don't necessarily rely on each other

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

Attention: Patch coverage is 96.62921% with 3 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/src/costmap_2d_ros.cpp	50.00%	2 Missing ⚠️
nav2_costmap_2d/plugins/plugin_container_layer.cpp	98.82%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_costmap_2d/plugins/plugin_container_layer.cpp	98.82% <98.82%> (ø)
nav2_costmap_2d/src/costmap_2d_ros.cpp	88.67% <50.00%> (-0.47%)	⬇️

... and 9 files with indirect coverage changes

[SteveMacenski]

I didn't call out everything, since I think much of other comments are moot if the costmap_ disappears so its better to wait for the revised version :-)

Check out the codecov annotations in the Code UX of the PR to see some gaps in your testing. Luckily, you have examples of alot of other Nav2 code of how to fill them (most are pretty easy pickings)

[alexanderjyuen]

I didn't call out everything, since I think much of other comments are moot if the costmap_ disappears so its better to wait for the revised version :-)

Check out the codecov annotations in the Code UX of the PR to see some gaps in your testing. Luckily, you have examples of alot of other Nav2 code of how to fill them (most are pretty easy pickings)

Latest version should have code coverage up to 99%'

[SteveMacenski]

Ah man, see how much more clean / concise this is now!

[SteveMacenski]

Also, your tests are failing 🙃

[SteveMacenski]

Then pretty much done!

On the docs, I still need the updated image for multiple inflation settings (or another example) to show how it can be used to create differing behavior -- but otherwise that is good too!

[SteveMacenski]

Thanks! All good and merged the pair!