lemniscata_planner_plugin.xml

<library path="lib/liblemniscata_planner">
  <class name="lemniscata_planner/LemniscataPlanner" type="lemniscata_planner::LemniscataPlanner" base_class_type="nav_core::BaseGlobalPlanner">
    <description>This is a global planner that makes the robot perform a lemniscata</description>
  </class>
 </library>