costmap_plugins.xml

<class_libraries>
  <library path="lib/libgi_layer">
    <class type="ground_integrity::GILayer" base_class_type="costmap_2d::Layer">
      <description>Interpolates Frequency Modulated Continuous Wave (FMCW) radar returns into the configuration of a mobile robot for risk management for uncertain ground integrity, such as water, voids etc</description>
    </class>
  </library>
</class_libraries>