That is helpful. I had read (and re-read) that page before but your hint about the role of APIs and different planners helps me understand it a lot better. If anyone has any kind of pointer to some more general "theory of operation" it would be great! --- [Visit Topic](https://discourse.ros.org/t/move-base-theory-of-operation/3592/3) 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: