Plugin container layer docs #615
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Example image updated |
| combination_method: 1 | ||
| plugins: ["static_layer", "inflation_layer"] | ||
| static_layer: | ||
| plugin: "nav2_costmap_2d::StaticLayer" |
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@SteveMacenski if the plugin type is explicitly defined in each constituent layer, do I still need an parameter for plugin_types
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Its not defined in the layer as I mentioned. Your util that loads the plugin (https://github.com/ros-navigation/navigation2/blob/684a4d037241674550b756c5014711fa6c13e35e/nav2_util/include/nav2_util/node_utils.hpp#L136) itself defines that .plugin parameter so it can read the string of the plugin class in order to load it. That is a parameter that you have actually added by using get_plugin_type_param. Yes, this is important to add as a parameter in the parameter guide and in this example YAML
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Otherwise, with that missing parameter + fixing DCO, I can merge this and the PR! |
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Signed-off-by: alexander <[email protected]>
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…ion guide Signed-off-by: alexander <[email protected]>
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Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: alexanderjyuen <[email protected]>
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Added documentation for plugin container layer