<library path="lib/libpsolqr_local_planner">
    <class name="psolqr_planner/PsoLqrPlanner" type="psolqr_planner::PsoLqrPlanner" base_class_type="nav_core::BaseLocalPlanner">
        <description>
        
            Lightweight ROS Local Path Planner Plugin with PSO and LQR :

            This ROS plugin offers a lightweight solution for local path planning, 
            employing the Particle Swarm Optimization (PSO) algorithm for global path optimization. 
            It further utilizes the PSO algorithm for precise local path planning and leverages the 
            Linear Quadratic Regulator (LQR) algorithm to achieve accurate trajectory tracking control.
            
        </description>
    </class>
</library>