Feature 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

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 86.03774% with 37 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/plugins/plugin_container_layer.cpp	59.21%	31 Missing ⚠️
...ree/include/nav2_behavior_tree/utils/loop_rate.hpp	88.88%	2 Missing ⚠️
...include/nav2_costmap_2d/plugin_container_layer.hpp	0.00%	2 Missing ⚠️
nav2_costmap_2d/src/costmap_layer.cpp	85.71%	1 Missing ⚠️
.../nav2_mppi_controller/tools/parameters_handler.hpp	91.66%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...or_tree/plugins/condition/is_stopped_condition.hpp	100.00% <100.00%> (ø)
...or_tree/plugins/condition/is_stopped_condition.cpp	100.00% <100.00%> (ø)
...havior_tree/plugins/decorator/speed_controller.cpp	84.78% <ø> (-0.33%)	⬇️
nav2_behavior_tree/src/behavior_tree_engine.cpp	84.00% <100.00%> (+4.00%)	⬆️
nav2_controller/src/controller_server.cpp	83.63% <100.00%> (ø)
...tmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp	100.00% <ø> (ø)
...stmap_2d/include/nav2_costmap_2d/costmap_layer.hpp	100.00% <ø> (ø)
nav2_costmap_2d/plugins/obstacle_layer.cpp	80.52% <100.00%> (+0.06%)	⬆️
nav2_costmap_2d/plugins/range_sensor_layer.cpp	78.77% <100.00%> (+0.10%)	⬆️
nav2_costmap_2d/plugins/static_layer.cpp	71.84% <100.00%> (+2.46%)	⬆️
... and 14 more

... and 7 files with indirect coverage changes