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I have solve it:

1) no need for PLUGINLIB_EXPORT_CLASS in each .cpp, add it only in the planner's .cpp

2) in cMakeLists.txt

add_library(GA_planner_lib src/GA_global_planner_ros.cpp src/GenericPathPlanner.cpp src/Map.cpp src/OccupancyGridMap.cpp src/Path.cpp)

That is, add all .cpp needed by your planner

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