What is the relationship between costmap config and URDF limits [closed]

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What is the relationship between costmap footprint and URDF model collision definition. Other values like joint velocity and effort limits in URDF and limits in move-base config file how is the relationship to be view. Is the URDF the limiting factor or does move base over ride? I found some information here: https://github.com/ros-controls/ros_control/wiki/joint_limits_interface I am guessing that URDF specifications limits and footprint take precidence and anything set in move-base should be aliened with those setting.