Hi guys, 

I have made these amendments in trajectory_planner.cpp in order to include
the dynamic reconfigure inside the program. 

1) Insert TrajectoryPlanner::reconfigureCB function in line 46 
   
   void TrajectoryPlanner::reconfigureCB(base_local_planner::MyStuffConfig
&config, uint32_t level)

2) initiates statement in line 117

    //dynamic_reconfigure Setup  												<---------------- Amend part
    dynamic_reconfigure::Server<base_local_planner::MyStuffConfig> srv;
   
dynamic_reconfigure::Server<base_local_planner::MyStuffConfig>::CallbackType
f = boost::bind(&TrajectoryPlanner::reconfigureCB, _1, _2);
    srv.setCallback(f);
    //-end 

This is the error being prompt:
 /usr/include/boost/bind/bind.hpp:69: error: ‘void
(base_local_planner::TrajectoryPlanner::*)(base_local_planner::MyStuffConfig&,
uint32_t)’ is not a class, struct, or union type

What should i do to resolve this error?

I would also like to import the base_local_planner.yaml's information as the
default value for the dynamic reconfigure. Is there any ways to do that?

With thanks,
Zhiping    

Attachment
http://ros-users.122217.n3.nabble.com/file/n2383738/trajectory_planner.cpp
trajectory_planner.cpp 
http://ros-users.122217.n3.nabble.com/file/n2383738/trajectory_planner.h
trajectory_planner.h 
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