Add inflation_layer_name param (#4047)

Signed-off-by: Renan Salles <[email protected]>

Author: renan028

nav2_mppi_controller/README.md

@@ -107,6 +107,7 @@ This process is then repeated a number of times and returns a converged solution
  | collision_cost       | double | Default 10000.0. Cost to apply to a true collision in a trajectory.                                          |
  | collision_margin_distance   | double    | Default 0.10. Margin distance from collision to apply severe penalty, similar to footprint inflation. Between 0.05-0.2 is reasonable. |
  | near_goal_distance          | double    | Default 0.5. Distance near goal to stop applying preferential obstacle term to allow robot to smoothly converge to goal pose in close proximity to obstacles.   
+ | inflation_layer_name        | string    | Default "". Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use. |
 
 #### Path Align Critic
  | Parameter                  | Type   | Definition                                                                                                                         |

nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp

@@ -16,9 +16,10 @@
 #define NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_
 
 #include <memory>
+#include <string>
+
 #include "nav2_costmap_2d/footprint_collision_checker.hpp"
 #include "nav2_costmap_2d/inflation_layer.hpp"
-
 #include "nav2_mppi_controller/critic_function.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
 #include "nav2_mppi_controller/tools/utils.hpp"
@@ -96,6 +97,7 @@ class ObstaclesCritic : public CriticFunction
 
   unsigned int power_{0};
   float repulsion_weight_, critical_weight_{0};
+  std::string inflation_layer_name_;
 };
 
 }  // namespace mppi::critics

nav2_mppi_controller/src/critics/obstacles_critic.cpp

@@ -28,6 +28,7 @@ void ObstaclesCritic::initialize()
   getParam(collision_cost_, "collision_cost", 10000.0);
   getParam(collision_margin_distance_, "collision_margin_distance", 0.10);
   getParam(near_goal_distance_, "near_goal_distance", 0.5);
+  getParam(inflation_layer_name_, "inflation_layer_name", std::string(""));
 
   collision_checker_.setCostmap(costmap_);
   possibly_inscribed_cost_ = findCircumscribedCost(costmap_ros_);
@@ -68,7 +69,10 @@ float ObstaclesCritic::findCircumscribedCost(
     ++layer)
   {
     auto inflation_layer = std::dynamic_pointer_cast<nav2_costmap_2d::InflationLayer>(*layer);
-    if (!inflation_layer) {
+    if (!inflation_layer ||
+      (!inflation_layer_name_.empty() &&
+      inflation_layer->getName() != inflation_layer_name_))
+    {
       continue;
     }