Thank for the enlightenment. The problem is solved.

These are the overall configuration i made for the dynamic reconfigure
support for the base_local_planner .

 ( trajectory_planner.cpp )
1) include TrajectoryPlanner::reconfigureCB        ( line 46)
2) include string name in TrajectoryPlanner         ( line75)

 ( trajectory_planner_ROS.cpp )
2) include statement in TrajectoryPlannerROS::initialize         ( line165)

 ( trajectory_planner.h )
1) include reconfigureCB                                          ( line 78)
2) include string name in TrajectoryPlanner         ( line 113)

 ( Other )
1) Include dynamic reconfigure api in CMakelist.txt
2) Create MyStuff.cfg

But the Reconfigure_gui does not detect the present of the
TrajectoryPlanner_node. 
Did i forget to amend any parameter or function ?

With thanks,
Zhiping

Reference:
http://www.ros.org/wiki/dwa_local_planner
http://www.ros.org/wiki/dwa_local_planner 
Attachment
http://ros-users.122217.n3.nabble.com/file/n2424256/base_local_planner.zip
base_local_planner.zip 
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