Local planner's concrete class is defined where in move_base?
I'm trying to utilize turtlebot_navigation and replace local planner with my planner. Can someone tell me where in turtlebot_navigation concrete class for local planner is specified?
I understand move_base pkg employs "interface programming" based on pluginlib to call local planner's functions w/o knowing the name of the local planner (nav_core)'s concrete class. To achieve that, some other pkgs (base_local_planner etc.) contain the plugin description files (as blp_plugin.xml), but the pkg I'm about to utilize doesn't seem to have that file. The only possible description that I found in turtlebot_navigation about specifying concrete class is in config/base_local_planner_params.yaml where there's a TrajectoryPlannerROS section.
Is the yaml description above the one? Or is it something like, if there's no plugin description file found then default class (I assume base_local_planner in this case) gets automatically used? Thanks.
