{
  "id": "ros2/nav2-costmap-inflator-unknown-layer",
  "signature": "[costmap_2d] Unknown layer type specified: 'inflation_layer' in plugin list",
  "signature_zh": "[costmap_2d] 插件列表中指定了未知的层类型：'inflation_layer'",
  "regex": "Unknown layer type specified: 'inflation_layer'",
  "domain": "ros2",
  "category": "config_error",
  "subcategory": null,
  "root_cause": "The costmap configuration YAML file lists 'inflation_layer' as a plugin, but the plugin name is misspelled or the plugin is not registered in the costmap's plugin list.",
  "root_cause_type": "generic",
  "root_cause_zh": "代价地图配置文件YAML中将'inflation_layer'列为插件，但插件名称拼写错误或插件未在代价地图的插件列表中注册。",
  "versions": [
    {
      "version": "Nav2 (Humble, Iron, Rolling)",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "costmap_2d plugin version 2.0.0+",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "Reinstall nav2_costmap_2d package",
      "why_fails": "The plugin is included by default; the issue is a configuration typo, not a missing package.",
      "fail_rate": 0.7,
      "condition": "",
      "sources": []
    },
    {
      "action": "Add the layer to the plugins list with a different name",
      "why_fails": "The plugin name must exactly match the registered class name 'inflation_layer'.",
      "fail_rate": 0.9,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Correct the layer name in the YAML file: change 'inflation_layer' to 'inflation_layer' (note: the correct name is 'inflation_layer', not 'inflation'). Also ensure the plugin list includes: plugins: ['obstacle_layer', 'inflation_layer', 'static_layer']",
      "success_rate": 0.95,
      "how": "Correct the layer name in the YAML file: change 'inflation_layer' to 'inflation_layer' (note: the correct name is 'inflation_layer', not 'inflation'). Also ensure the plugin list includes: plugins: ['obstacle_layer', 'inflation_layer', 'static_layer']",
      "condition": "",
      "sources": []
    },
    {
      "action": "If using a custom layer, register it with pluginlib and add it to the costmap's plugin list in the YAML.",
      "success_rate": 0.8,
      "how": "If using a custom layer, register it with pluginlib and add it to the costmap's plugin list in the YAML.",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "在YAML文件中更正层名称：将'inflation_layer'改为'inflation_layer'（注意：正确名称是'inflation_layer'，不是'inflation'）。同时确保插件列表包括：plugins: ['obstacle_layer', 'inflation_layer', 'static_layer']",
    "如果使用自定义层，请使用pluginlib注册它，并在YAML的插件列表中添加它。"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://navigation.ros.org/configuration/index.html#costmap-2d-plugins",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.87,
  "fix_success_rate": 0.9,
  "resolvable": "true",
  "first_seen": "2023-08-05",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}