Thank Blaise. The error has been resolved. 

I would wish continue by linking up the dynamic reconfigure with the
base_local_planner using the DWA_planner as reference and have edited these
following statements.

TrajectoryPlanner::TrajectoryPlanner(std::string name, WorldModel&
world_model, ........) -> trajectory_planner.cpp line 73
 tc_ = new TrajectoryPlanner(name, *world_model_, costmap_,
costmap_ros_->getRobotFootprint(),  inscribed_radius_, circumscribed_radius_
....) -> trajectory_planner_ros.cpp line 165
TrajectoryPlanner::TrajectoryPlanner(std::string name, WorldModel&
world_model......_) -> trajectory_planner.h line 113

But the complier produce this error:
/opt/ros/cturtle/stacks/navigation/base_local_planner/include/base_local_planner/trajectory_planner.h:113:
error: extra qualification ‘base_local_planner::TrajectoryPlanner::’ on
member ‘TrajectoryPlanner’

what does extra qualification means? Extra parameter input?
How should i solve this problem?

Sorry to disturb your precious time with this simple question.

With thanks,
Zhiping

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