<library path="lib/libtrajectory_planner_ros">
    <class name="base_local_planner/TrajectoryPlannerROS" type="base_local_planner::TrajectoryPlannerROS" base_class_type="nav_core::BaseLocalPlanner">
    <description>
      A implementation of a local planner using either a DWA or Trajectory Rollout approach based on configuration parameters.
    </description>
  </class>
</library>