diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst
index f9f113ea81..2dcc899735 100644
--- a/configuration/packages/configuring-costmaps.rst
+++ b/configuration/packages/configuring-costmaps.rst
@@ -320,6 +320,7 @@ Plugin Parameters
   costmap-plugins/inflation.rst
   costmap-plugins/obstacle.rst
   costmap-plugins/voxel.rst
+  costmap-plugins/range.rst
 
 Example
 *******
diff --git a/configuration/packages/costmap-plugins/range.rst b/configuration/packages/costmap-plugins/range.rst
new file mode 100644
index 0000000000..b66a4adfba
--- /dev/null
+++ b/configuration/packages/costmap-plugins/range.rst
@@ -0,0 +1,107 @@
+.. range:
+
+Range Sensor Parameters
+======================
+
+``<range layer>`` is the corresponding plugin name selected for this type.
+
+:``<range layer>``.enabled:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool True
+  ==== =======
+
+  Description
+    Whether it is enabled.
+
+:``<range layer>``.topics:
+
+  ============== =======
+  Type Default
+  -------------- -------
+  vector<string> [""]
+  ============== =======
+
+  Description
+    Range topics to subscribe to.
+
+:``<range layer>``.phi:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 1.2
+  ====== =======
+
+  Description
+    Phi value.
+
+:``<range layer>``.inflate_cone:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double    1.0
+  ====== =======
+
+  Description
+    Inflate the triangular area covered by the sensor (percentage).
+
+:``<range layer>``.no_readings_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.0
+  ====== =======
+
+  Description
+    If zero, this parameter has no effect. Otherwise if the layer does
+    not receive sensor data for this amount of time,
+    the layer will warn the user and the layer will be marked as not current.
+
+:``<range layer>``.clear_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.2
+  ====== =======
+
+  Description
+     Probability below which cells are marked as free.
+
+:``<range layer>``.mark_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double    0.8
+  ====== =======
+
+  Description
+    Probability above which cells are marked as occupied.
+
+:``<range layer>``.clear_on_max_reading:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool    False
+  ====== =======
+
+  Description
+    Whether to clear the sensor readings on max range.
+
+:``<range layer>``.input_sensor_type:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string    ALL
+  ====== =======
+
+  Description
+    Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).
diff --git a/migration/Eloquent.rst b/migration/Eloquent.rst
index 18a9ec7402..79520dea87 100644
--- a/migration/Eloquent.rst
+++ b/migration/Eloquent.rst
@@ -124,3 +124,9 @@ Selection of Behavior Tree in each navigation action
 The ``NavigateToPose`` action allows now to select in the action request the behavior tree to be used by ``bt_navigator`` for carrying out the navigation action through the ``string behavior_tree`` field. This field indicates the absolute path of the xml file that will be used to use to carry out the action. If no file is specified, leaving this field empty, the default behavior tree specified in the ``default_bt_xml_filename parameter`` will be used.
 
 This functionality has been discussed in `this ticket <https://github.com/ros-planning/navigation2/issues/1780>`_, and carried out in `this pull request <https://github.com/ros-planning/navigation2/issues/1780>`_
+
+New Costmap Layer
+*****************
+The range sensor costmap has not been ported to navigation2 as ``nav2_costmap_2d::RangeSensorLayer"``. It uses the same
+probabilistic model as the `ROS1 <http://wiki.ros.org/range_sensor_layer>`_ layer as well as much of the
+same interface. Documentation on parameters has been added to docs/parameters and the navigation.ros.org under ``Configuration Guide``.
diff --git a/plugins/index.rst b/plugins/index.rst
index d4343df162..b04e571cd9 100644
--- a/plugins/index.rst
+++ b/plugins/index.rst
@@ -22,6 +22,10 @@ Costmap Layers
 |                                |                        | laser sensor readings and        |
 |                                |                        | raycasting to clear free space   |
 +--------------------------------+------------------------+----------------------------------+
+| `Range Layer`_                 | David Lu               | Uses a probabalistic model to    |
+|                                |                        | put data from sensors that       |
+|                                |                        | publish range msgs on the costmap|
++--------------------------------+------------------------+----------------------------------+
 | `Static Layer`_                | Eitan Marder-Eppstein  | Gets static ``map`` and loads    |
 |                                |                        | occupancy information into       |
 |                                |                        | costmap                          |
@@ -44,6 +48,7 @@ Costmap Layers
 
 .. _Voxel Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/voxel_layer.cpp
 .. _Static Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/static_layer.cpp
+.. _Range Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/range_sensor_layer.cpp
 .. _Inflation Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/inflation_layer.cpp
 .. _Obstacle Layer: https://github.com/ros-planning/navigation2/tree/master/nav2_costmap_2d/plugins/obstacle_layer.cpp
 .. _Spatio-Temporal Voxel Layer: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/