update for ROS

Controllers/Packages/amr_control/CMakeLists.txt

@@ -44,6 +44,7 @@ catkin_package(
     geometry_msgs  
     loc_core 
     nav_2d_utils 
+    robot_nav_2d_utils
     move_base_core 
     robot_cpp
     roscpp 
@@ -106,12 +107,12 @@ add_dependencies(${PROJECT_NAME}_node
   ${${PROJECT_NAME}_EXPORTED_TARGETS} 
   ${catkin_EXPORTED_TARGETS}
 )
-# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
-# Libraries will be found via LD_LIBRARY_PATH or system paths
+# Configure RPATH to find libraries in devel space
+# Use ORIGIN to find libraries relative to executable location
 set_target_properties(${PROJECT_NAME}_node PROPERTIES
-    SKIP_BUILD_RPATH TRUE
     BUILD_WITH_INSTALL_RPATH FALSE
-    INSTALL_RPATH_USE_LINK_PATH FALSE
+    INSTALL_RPATH_USE_LINK_PATH TRUE
+    BUILD_RPATH "${CATKIN_DEVEL_PREFIX}/lib"
 )
 
 # add_dependencies(vda_5050_api_test