Which part of ROS navigation is responsible for path correction? [closed]
I've been traveling around ROS' navigation stack, looking for the path correction code and I couldn't find it. I am using a kobuki iClebo's TurtleBot platform, along with kinect instead of laser scan.
I am pretty new to robotics and ROS, so I might need to understand first:
-There is the global planner (let's say A-star/Djikstra in my case) which is responsible for the Global Path
-There is the local planner (DWA/base_local_planner) which, alongside with the obstacle updates to the map by /scan topic, is responsible for obstacle avoidance and hopefully path correction (?)
-There is the move_base which I think acts as a "manager" for both of the above
Now, I couldn't find anywhere in those three the part that is responsible for path correction - the procedure of understanding where you are (localization), understanding where you were suppose to be (given by one of the planners) and giving control commands in order to close the gap between the two.