Thanks for the fast response. 
Actually i have instantiated the dynamic_reconfigure::Server in this way:

1) add statement in trajectory_planner.h                                                  
     dynamic_reconfigure::Server<base_local_planner::MyStuffConfig> dsrv_    
( line 366)      
2) create an additional parameter  in TrajectoryPlanner::TrajectoryPlanner
at trajectory_planner.cpp        
    dsrv_(ros::NodeHandle("~/"+name))                                                                        
( line 106 )

Will this do?

At the same time, i also tried to rewrite the code in this way at the
trajectory_planner.cpp
dynamic_reconfigure::Server<base_local_planner::MyStuffConfig> srv;  	                                
( line 121)
dynamic_reconfigure::Server<base_local_planner::MyStuffConfig>::CallbackType
f = boost::bind(&TrajectoryPlanner::reconfigureCB,this, _1, _2);
srv.setCallback(f);

but it does not work too. 


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