Cspace in navigation stack?

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The map is the configuration space of traversable space in a 2D fixed-map mobile robotics application. It will visit the nodes belonging to occupied cells and look at the cost and using standard graph search techniques throw out from the path as untraversable space.

The local planner does take care of some obstacle avoidance but assuming a perfect map to perfectly represent your environment, it shouldn't have to do anything in theory, but not in practice or any amount of non-gazebo reality. The local planner also is what produces velocity commands to the wheels rather than just a list of ordered cells to visit.

The configuration space is represented with the "inflated" portions of your costmap. All the lethal obstacles have an additional lethal cost added to them based on the inscribed radius of your robot.