Thanks for the reply. 

I have changed 
    
dynamic_reconfigure::Server<base_local_planner::MyStuffConfig>::CallbackType
f = boost::bind(&TrajectoryPlanner::reconfigureCB, _1, _2); 
to 
    
dynamic_reconfigure::Server<base_local_planner::MyStuffConfig>::CallbackType
f = boost::bind(&TrajectoryPlanner::reconfigureCB,&TrajectoryPlanner, _1,
_2);

This is my new error. 
 
/opt/ros/cturtle/stacks/navigation/base_local_planner/src/trajectory_planner.cpp:119:
error: expected primary-expression before ‘,’ token
 
/opt/ros/cturtle/stacks/navigation/base_local_planner/src/trajectory_planner.cpp:120:
error: ‘srv_’ was not declared in this scope

Did i change it correct ?  If not, what should i do to the resolve this?

With thanks,
Zhiping


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trajectory_planner.cpp 
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