Use modern PLUGINLIB_EXPORT macro in trajectory_planner_ros
Split trajectory_planner_ros into its own lib

carrot_planner depends on base_local_planner, if trajectory_planner_ros
is also in that library, loading both causes an error.
Adjust linking of base_local_planner tests
Use modern pluginlib macro in carrot_planner
Remove unused libraries from carrot_planner
Use modern plubinlib macro in dwa_planner
Update move_base for modern use of pluginlib

switch from raw pointer to smart pointer for planners