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The solution is right in the error message:

"[...] the class shifty_local_planner/ShiftyPlannerROS [...] does not exist."

"Declared types are ShiftyPlannerROS ..."

So it's looking for shifty_local_planner/ShiftyPlannerROS, but all it could find was ShiftyPlannerROS (without the namespace).

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