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  /**
   * @brief Deactivates action server
   * @param state Reference to LifeCycle node state
   * @return SUCCESS or FAILURE
   */
  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;

  /**
  * @brief Construct the TebConfig using default values.
  * @warning If the \b rosparam server or/and \b dynamic_reconfigure (rqt_reconfigure) node are used,
  *	     the default variables will be overwritten: \n
  *	     E.g. if \e base_local_planner is utilized as plugin for the navigation stack, the initialize() method will register a
  * 	     dynamic_reconfigure server. A subset (not all but most) of the parameters are considered for dynamic modifications.
  * 	     All parameters considered by the dynamic_reconfigure server (and their \b default values) are
  * 	     set in \e PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg. \n
  * 	     In addition the rosparam server can be queried to get parameters e.g. defiend in a launch file.
  * 	     The plugin source (or a possible binary source) can call loadRosParamFromNodeHandle() to update the parameters.
  * 	     In \e summary, default parameters are loaded in the following order (the right one overrides the left ones): \n
  * 		<b>TebConfig Constructor defaults << dynamic_reconfigure defaults << rosparam server defaults</b>
  */
  TebConfig()
  {

  }

      /**
       * A pure virtual member.
       * @see testMe()
       * @param c1 the first argument.
       * @param c2 the second argument.
       */
       virtual void testMeToo(char c1,char c2) = 0;

  std::string odom_topic; //!< Topic name of the odometry message, provided by the robot driver or simulator
  std::string map_frame; //!< Global planning frame
  std::string node_name; //!< node name used for parameter event callback

  //! Trajectory related parameters
  struct Trajectory
  {
    double teb_autosize; //!< Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended)
	...
    int control_look_ahead_poses; //! Index of the pose used to extract the velocity command
  } trajectory; //!< Trajectory related parameters

/**
 * @class TebConfig
 * @brief Config class for the teb_local_planner and its components.
 */
class TebConfig
{
    ...
}

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/**
 *  A test class. A more elaborate class description.
 */

/**
 *  @brief A test class. A more elaborate class description.
 */

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