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.
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