ros-navigation · haider8645 · Apr 28, 2026 · Apr 28, 2026 · Apr 28, 2026 · Apr 28, 2026
diff --git a/plugins/index.rst b/plugins/index.rst
@@ -81,6 +81,11 @@ Costmap Layers
 |                                |                        | costmap with different isolated  |
 |                                |                        | combinations of costmap layers   |
 +--------------------------------+------------------------+----------------------------------+
+| `Ground Consistency Layer`_    |  Muhammad Haider Khan  | Height-aware costmap layer using |
+|                                |  Lodhi                 | 3D ground segmentation. Pair     |
+|                                |                        | with Inflation Layer for terrain-|
+|                                |                        | aware navigation.                |
++--------------------------------+------------------------+----------------------------------+
 
 .. _Voxel Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/voxel_layer.cpp
 .. _Static Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/static_layer.cpp
@@ -92,6 +97,7 @@ Costmap Layers
 .. _Non-Persistent Voxel Layer: https://github.com/SteveMacenski/nonpersistent_voxel_layer
 .. _Denoise Layer: https://github.com/ryzhikovas/navigation2/tree/feature-costmap2d-denoise/nav2_costmap_2d/plugins/denoise_layer.cpp
 .. _Plugin Container Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/plugin_container_layer.cpp
+.. _Ground Consistency Layer: https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin
 
 Costmap Filters
 ===============

diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/arter.gif b/tutorials/docs/images/Navigation2_with_Ground_Consistency/arter.gif
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/botanic_garden.gif b/tutorials/docs/images/Navigation2_with_Ground_Consistency/botanic_garden.gif
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/citrus_farm.gif b/tutorials/docs/images/Navigation2_with_Ground_Consistency/citrus_farm.gif
diff --git a/...ls/docs/images/Navigation2_with_Ground_Consistency/ground_consistency_layer.gif b/...ls/docs/images/Navigation2_with_Ground_Consistency/ground_consistency_layer.gif
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/husky_in_baylands.png b/tutorials/docs/images/Navigation2_with_Ground_Consistency/husky_in_baylands.png
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/raw_points.png b/tutorials/docs/images/Navigation2_with_Ground_Consistency/raw_points.png
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/robot_in_action.png b/tutorials/docs/images/Navigation2_with_Ground_Consistency/robot_in_action.png
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/rviz_window.png b/tutorials/docs/images/Navigation2_with_Ground_Consistency/rviz_window.png
diff --git a/tutorials/docs/images/Navigation2_with_Ground_Consistency/segmented_points.png b/tutorials/docs/images/Navigation2_with_Ground_Consistency/segmented_points.png
diff --git a/tutorials/docs/navigation2_with_ground_consistency_layer.rst b/tutorials/docs/navigation2_with_ground_consistency_layer.rst
diff --git a/tutorials/index.rst b/tutorials/index.rst
@@ -33,3 +33,4 @@ Nav2 Tutorials
    docs/navigation2_with_vector_objects.rst
    docs/roscon_uk_2025_state_estimation.rst
    docs/using_3laws_supervisor.rst
+   docs/navigation2_with_ground_consistency_layer.rst