Cspace in navigation stack?
Hi,
Where does the ROS navigation stack consider the configuration space of the robot for circular mobile robots, such as the Turtlebot 2?
I am looking through the wiki, but I cannot find much about it. The global planner seems to plan on a workspace occupancy grid. If that is the case, then does the global planner do any kind of obstacle avoidance (even discarding nodes that are occupied locations)? Or does the global planner plan without considering obstacles and the local planner handles all obstacle avoidance?