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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -598,6 +598,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/range.html">Range Sensor Parameters</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/costmap-plugins/plugin_container.html">Plugin Container Layer Parameters</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
@@ -1051,6 +1052,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions">Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-plugin-container-layer">New Plugin Container Layer</a></li>
 </ul>
 </li>
 </ul>