added example image and settings to plugin container layer configurat…

…ion guide

configuration/packages/costmap-plugins/plugin_container.rst

@@ -32,3 +32,64 @@ This implements a costmap layer which combines costmap layers within a submap, w
   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: 30.0
+          inflation_radius: 0.1
+
+      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
+