title: What kind of data is stored in local and global costmap in ros navigation stack?
body: <p>I'm looking the navigation stack of ros and I have a doubt regarding local and global costmaps. What kind of information is stored in each one? For example, if my global planner computes the shortest path among two points of a map, is in the global costmap the distance of each street that the global planner will use for the computation of the path or what information is stored in the costmap? I have read <a href="http://wiki.ros.org/navigation/Tutorials/RobotSetup" rel="nofollow noreferrer">ros navigation stack documentation</a> and I do not have clear what information can store. Also, the structure of the navigation stack is in the previous link.</p>
  
  <p>Thank you so much for your help!!</p>