# Revision history [back]

move_base (http://wiki.ros.org/move_base) is responsible for "coordinating" the different components, such as the global and local planner plugins, the recovery behaviors, and the layered costmaps.

Make sure you are actually loading and parametrizing a local planner and a local costmap. move_base will then pass the plan generated by your global planner to the local planner for execution.

Check out this tutorial as well: http://wiki.ros.org/navigation/Tutorials/RobotSetup