How to switch local planner in move base?

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Hi, all. Thanks to @Akif, I have succesfully implemented a package to switch global planner as this link advises. Then I also want to implement a package to switch local planner as the way I did in implementing the global planner switcher. Unfortunately, it was not as smooth as the implementation of global planner switcher. After I implemented a supervisory local planner and launched move_base to test it. An error was output:

[FATAL] [1499944083.575647406, 2061.510000000]: Failed to create the sup_local_planner/sup_l_planner planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /home/scopus/scopus_planning_ws/devel/lib//libsup_local_planner.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/scopus/scopus_planning_ws/devel/lib//libsup_local_planner.so: undefined symbol: _ZN11suplPlanner13sup_l_plannerD1Ev)

The content of blp_plugin.xml file is :

    <library path="lib/libsup_local_planner">
  <class name="sup_local_planner/sup_l_planner" type="suplPlanner::sup_l_planner" base_class_type="nav_core::BaseLocalPlanner">
    <description>
    A implementation of a local planner using DWA and ftc approach based on configuration parameters.
    </description>
  </class>
</library>

Parts of my cpp file is:

......

PLUGINLIB_EXPORT_CLASS(suplPlanner::sup_l_planner, nav_core::BaseLocalPlanner)

namespace  suplPlanner {

sup_l_planner::sup_l_planner(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
    :dwa_planner_(),ftc_planner_(),initialized_(false)
{
    initialize(name, tf, costmap_ros);

}
void sup_l_planner::initialize(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
{
    if(!initialized_)
    {
        //costmap_ros_ = costmap_ros;
        pl_type_ = FTC_L;
        ftc_planner_ = boost::shared_ptr<ftc_local_planner::FTCPlanner>(new ftc_local_planner::FTCPlanner(name, tf, costmap_ros));
        dwa_planner_= boost::shared_ptr<dwa_local_planner::DWAPlannerROS>(new dwa_local_planner::DWAPlannerROS(name,tf, costmap_ros));
        ros::NodeHandle private_nh("~/sup_l_Planner");
        change_plan_srv_= private_nh.advertiseService("change_plan",&sup_l_planner::changepl, this);
        initialized_ = true;
    }
    else
        ROS_WARN("This planner has already been initialized, you can't call it twice, doing nothing");

}

You can see that the name of space and the name of class are consistent. So I can't understand why the output error says : "

........., and that names are consistent between this macro and your XML. Error string: Could not load library ......

Looking forward to anyone give me any advice!

Thank you !