Add AsymmetricInflationLayer costmap plugin for path-aware lane-keeping#6118

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mbloechli wants to merge 21 commits into

ros-navigation:mainfrom

mbloechli:feat/asymmetric_inflation_layer

Commits on May 12, 2026

ported over to rolling
mbloechli
committed
improved efficiency of getObstacleSide
mbloechli
committed
update bounds iteratively
mbloechli
committed
renamed test file, added correct license headers
mbloechli
committed
fix linting errors
mbloechli
committed
please pre-commit
mbloechli
committed
revert unintended changes to nav2_bringup
mbloechli
committed
added benchmarking for incremental updates
mbloechli
committed
updated license headers with my full name and authors who wrote the legacy_inflation_layer, of which I copied a lot of
mbloechli
committed
unnest if(use_asymmetry) statement
mbloechli
committed
fixed units bug that cancelled each other out in getEffectiveDistance() and computeCost()
mbloechli
committed
updated parameters to be the same as in the docs.nav2.org page about the asymmetric inflation layer
mbloechli
committed
moved the hash lookup from computeObstacleSide() to updateCosts() for better readability. This required an update to the test file. This commit also unnests some if statements and adds comments to …
mbloechli
committed
please linter
mbloechli
committed
fix: corrected a multiplication error, that created an incorrectly scaled map for benchmarking
mbloechli
committed
fix: deleted a copy-paste error, that didn't influence the behaviour
mbloechli
committed
refactored layer to inherit from inflation_layer, made it useable as a standalone layer, replaced asymmetry_factor with per side cost_scaling_factors, removed configurability of neutral_threshold a…
mbloechli
committed
updated layer description in costmap_plugins.xml
mbloechli
committed
removed dependency on legacyInflationLayer, only inflate disfavored side in asymmetric pass
mbloechli
committed
replaced BFS expansion with DT from inflation layer
mbloechli
committed
linting
mbloechli
committed

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Add AsymmetricInflationLayer costmap plugin for path-aware lane-keeping#6118

Add AsymmetricInflationLayer costmap plugin for path-aware lane-keeping#6118
mbloechli wants to merge 21 commits into
ros-navigation:mainfrom
mbloechli:feat/asymmetric_inflation_layer

Commits on May 12, 2026

ported over to rolling

improved efficiency of getObstacleSide

update bounds iteratively

renamed test file, added correct license headers

fix linting errors

please pre-commit

revert unintended changes to nav2_bringup

added benchmarking for incremental updates

updated license headers with my full name and authors who wrote the legacy_inflation_layer, of which I copied a lot of

unnest if(use_asymmetry) statement

fixed units bug that cancelled each other out in getEffectiveDistance() and computeCost()

updated parameters to be the same as in the docs.nav2.org page about the asymmetric inflation layer

moved the hash lookup from computeObstacleSide() to updateCosts() for better readability. This required an update to the test file. This commit also unnests some if statements and adds comments to …

please linter

fix: corrected a multiplication error, that created an incorrectly scaled map for benchmarking

fix: deleted a copy-paste error, that didn't influence the behaviour

refactored layer to inherit from inflation_layer, made it useable as a standalone layer, replaced asymmetry_factor with per side cost_scaling_factors, removed configurability of neutral_threshold a…

updated layer description in costmap_plugins.xml

removed dependency on legacyInflationLayer, only inflate disfavored side in asymmetric pass

replaced BFS expansion with DT from inflation layer

linting