Hi all,
I have a doubt regarding working of [base_local_planner](http://wiki.ros.org/base_local_planner). As the base_local_planner requires an odometry information (`nav_msgs/Odometry`) to get the current speed of the robot, I would like to know how does the base_local_planner uses the odometry message to effectively generate the command velocities (`/cmd_vel`), I mean what kind of controller does it use (is it PID or something) or how does it work out? I am more interested in knowing how the odometry message is interpreted to better estimate the command velocities. Can anyone throw some light on it or point me in the right direction.
Thanks in advance.
Naman Kumar
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