Plugin for nav2?

[sukarian]

I was wondering if there was any interest in a plugin for nav2 that would add an elevation layer . There was this issue, but that repo is no longer actively maintained so I wanted to raise it here.

The implementation would be a new package (tentatively grid_map_nav2) containing a nav2_costmap_2d::Layer plugin that subscribes to a GridMap topic and writes costs into Nav2's layered costmap using the existing GridMapRosConverter::toCostmap(). Users would configure it like any native Nav2 layer via nav2_params.yaml.

This would add nav2_costmap_2d as a new dependency. Would that be acceptable for this repo, or would you prefer this be in a separate repository?

[sukarian]

Here is the code so far. There was a change of plans, as the GridMapRosConverter::toCostmap() function doesn't output a nav2_costmap_2d object, so I had to write the conversion code myself. Next I am going to create an MPPI critic plugin to consume the grid_map layer, which will live in the same repo for now.