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Better check out this page: http://wiki.ros.org/dwa_local_planner And the source code for DWA: https://github.com/ros-planning/navigation/blob/noetic-devel/dwa_local_planner/src/dwa_planner.cpp

A simple pipeline should be: A* send a path to DWA. DWA will generate a series of trajectories according to the params, velocities, vx, vy, vtheta samples, sim_time, etc.. then calculate the cost for each trajectory according to path_cost, goal_cost, occ_cost. In the end, find out the best trajectory.

DWA initializes with local costmap. local costmap contains map and sensor information.