Add documentation for ground consistency layer

Signed-off-by: haider8645 <haider_lodhi@hotmail.com>

Author: haider8645

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
 ===============

tutorials/docs/images/Navigation2_with_Ground_Consistency/ground_consistency_layer.gif

@@ -4,7 +4,7 @@ NAV2 Ground Consistency Demo
 
 A tutorial demonstrating terrain-aware navigation using 3D lidar ground segmentation with Nav2's `ground consistency costmap layer <https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin>`_. Learn how to classify terrain into traversable ground and obstacles, then use that classification to build smarter costmaps for safer navigation.
 
-.. image:: media/ground_consistency_layer.gif
+.. image:: images/Navigation2_with_Ground_Consistency/ground_consistency_layer.gif
    :alt: Ground Consistency Layer Demo
 
 Overview
@@ -150,7 +150,7 @@ You should see:
 - Husky robot appears on the ground
 - ROS topics ``/husky/scan/points``, ``/husky/imu`` being published
 
-.. image:: media/husky_in_baylands.png
+.. image:: images/Navigation2_with_Ground_Consistency/husky_in_baylands.png
    :alt: Husky in Baylands
 
 Verify the lidar is working:
@@ -161,7 +161,7 @@ Verify the lidar is working:
 
 You should see ~5-10 Hz updates based on your computer specifications. You will need to set your rviz 'Frame Rate' to this value to avoid issues with rviz visualizations.
 
-.. image:: media/rviz_frame_settings.png
+.. image:: images/Navigation2_with_Ground_Consistency/rviz_frame_settings.png
    :alt: RViz Frame Settings
 
 Step 2: Launch Navigation Stack

tutorials/docs/images/Navigation2_with_Ground_Consistency/husky_in_baylands.png

@@ -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