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Hi,

It seems, you need create 'blp_plugin.xml' file like this:

<library path="lib/libbase_local_planner">
  <class name="vfh_local_planner/VFHPlannerROS" type="vfh_local_planner::VFHPlannerROS" base_class_type="nav_core::BaseLocalPlanner">
    <description>
      ...       </description>
  </class>
</library>

Best Regards, Alex