Added documentation for asymmetric_inflation_layer

configuration/packages/configuring-costmaps.rst

@@ -386,6 +386,7 @@ Plugin Parameters
   costmap-plugins/static.rst
   costmap-plugins/inflation.rst
   costmap-plugins/inflation_legacy.rst
+  costmap-plugins/asymmetric_inflation.rst
   costmap-plugins/obstacle.rst
   costmap-plugins/voxel.rst
   costmap-plugins/range.rst

configuration/packages/costmap-plugins/asymmetric_inflation.rst

@@ -0,0 +1,145 @@
+.. asymmetric_inflation:
+
+Asymmetric Inflation Layer Parameters
+======================================
+
+This layer implements an asymmetric variant of the inflation layer, biasing the robot's path toward one side of the corridor by raising obstacle costs asymmetrically around the planned path.
+
+
+``<asymmetric inflation layer>`` is the corresponding plugin name selected for this type.
+
+
+:``<asymmetric inflation layer>``.enabled:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool True
+  ==== =======
+
+  Description
+    Whether it is enabled.
+
+:``<asymmetric inflation layer>``.inflation_radius:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 2.0
+  ====== =======
+
+  Description
+    Radius to inflate costmap around lethal obstacles.
+
+:``<asymmetric inflation layer>``.cost_scaling_factor:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 4.0
+  ====== =======
+
+  Description
+    Exponential decay factor across inflation radius.
+
+:``<asymmetric inflation layer>``.asymmetry_factor:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.75
+  ====== =======
+
+  Description
+    Signed bias in to influence asymmetry. Must be in the range (-1, 1).
+
+    a value > 0 biases to the right of the path, < 0 to the left
+
+
+
+:``<asymmetric inflation layer>``.inflate_around_unknown:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool False
+  ==== =======
+
+  Description
+    Whether to treat unknown cells as lethal for inflation purposes.
+
+:``<asymmetric inflation layer>``.plan_topic:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string "plan"
+  ====== =======
+
+  Description
+    Topic on which to receive the global path (``nav_msgs/msg/Path``).
+
+:``<asymmetric inflation layer>``.goal_distance_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 1.5
+  ====== =======
+
+  Description
+    Distance to the goal (m) below which asymmetric inflation is disabled.
+
+    This prevents oscillations when the robot is approaching the target pose.
+
+:``<asymmetric inflation layer>``.neutral_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 2.0
+  ====== =======
+
+  Description
+    Maximum perpendicular distance (m) from the path centreline.
+
+    Obstacles farther than this distance are ignored.
+
+
+Usage Note
+----------
+
+``AsymmetricInflationLayer`` reads the symmetric cost baseline written by
+``nav2_costmap_2d::InflationLayer``.
+It must appear **after** ``InflationLayer`` in the ``plugins`` list:
+
+.. code-block:: yaml
+
+    local_costmap:
+      ros__parameters:
+        plugins: ["obstacle_layer", "inflation_layer", "asymmetric_inflation_layer"]
+        obstacle_layer:
+          plugin: "nav2_costmap_2d::ObstacleLayer"
+          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"
+          inflation_radius: 1.0
+          cost_scaling_factor: 5.0
+        asymmetric_inflation_layer:
+          plugin: "nav2_costmap_2d::AsymmetricInflationLayer"
+          inflation_radius: 3.0
+          cost_scaling_factor: 4.0
+          asymmetry_factor: 0.75
+          plan_topic: "plan"
+          goal_distance_threshold: 1.5
+          neutral_threshold: 2.0