The nav_core documentation (http://wiki.ros.org/nav_core) might help a bit. This package defines the interfaces used by move_base for the various components (planners, costmaps, recovery behaviors). Every other package basically implements one of these interfaces. One other thing to keep in mind is that you won't need to use every package -- for instance, base_local_planner and dwa_local_planner are both local planners, and you will only need one local planner. --- [Visit Topic](https://discourse.ros.org/t/move-base-theory-of-operation/3592/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: