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+# Quick Start - Chạy C# Example
+
+## Bước 1: Cài đặt .NET SDK (nếu chưa có)
+
+### Ubuntu/Debian:
+```bash
+# Cài đặt .NET 6.0 hoặc mới hơn
+wget https://dot.net/v1/dotnet-install.sh
+chmod +x dotnet-install.sh
+./dotnet-install.sh --channel 6.0
+
+# Thêm vào PATH
+export PATH=$PATH:$HOME/.dotnet
+export DOTNET_ROOT=$HOME/.dotnet
+
+# Hoặc cài qua apt (nếu có)
+sudo apt-get update
+sudo apt-get install -y dotnet-sdk-6.0
+```
+
+### Kiểm tra:
+```bash
+dotnet --version
+```
+
+## Bước 2: Build C API Library
+
+```bash
+cd /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core
+mkdir -p build
+cd build
+cmake ..
+make nav_c_api
+```
+
+Library sẽ ở: `build/src/APIs/c_api/libnav_c_api.so`
+
+## Bước 3: Chạy C# Example
+
+### Cách 1: Dùng script tự động (Khuyến nghị)
+
+```bash
+cd /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/examples
+chmod +x run_example.sh
+./run_example.sh
+```
+
+Script sẽ tự động:
+- ✅ Build library nếu chưa có
+- ✅ Tạo C# project
+- ✅ Copy library và source code
+- ✅ Set LD_LIBRARY_PATH cho tất cả dependencies
+- ✅ Build và chạy example
+
+### Cách 2: Chạy thủ công
+
+```bash
+# 1. Tạo project
+cd /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/examples
+dotnet new console -n NavigationExample
+cd NavigationExample
+
+# 2. Copy source code
+cp ../CSharpExample.cs Program.cs
+
+# 3. Tạo .csproj
+cat > NavigationExample.csproj << 'EOF'
+<Project Sdk="Microsoft.NET.Sdk">
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net6.0</TargetFramework>
+    <RuntimeIdentifier>linux-x64</RuntimeIdentifier>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+  </PropertyGroup>
+  <ItemGroup>
+    <None Include="libnav_c_api.so">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+  </ItemGroup>
+</Project>
+EOF
+
+# 4. Copy library
+cp ../../build/src/APIs/c_api/libnav_c_api.so .
+
+# 5. Set library path (quan trọng!)
+export LD_LIBRARY_PATH=../../build/src/APIs/c_api:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/costmap_2d:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/robot_time:$LD_LIBRARY_PATH
+
+# 6. Build và chạy
+dotnet build
+dotnet run
+```
+
+## Bước 4: Kiểm tra kết quả
+
+Nếu chạy thành công, bạn sẽ thấy output như:
+```
+Robot pose: x=0.0, y=0.0, theta=0.0
+State: PENDING, Feedback: ...
+```
+
+## Troubleshooting
+
+### Lỗi: "dotnet: command not found"
+→ Cài đặt .NET SDK (xem Bước 1)
+
+### Lỗi: "Unable to load DLL 'libnav_c_api.so'"
+```bash
+# Kiểm tra library có tồn tại không
+ls -la ../../build/src/APIs/c_api/libnav_c_api.so
+
+# Set LD_LIBRARY_PATH (bao gồm tất cả dependencies)
+export LD_LIBRARY_PATH=../../build/src/APIs/c_api:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/costmap_2d:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/robot_time:$LD_LIBRARY_PATH
+
+# Hoặc copy vào system lib
+sudo cp libnav_c_api.so /usr/local/lib/
+sudo ldconfig
+```
+
+### Lỗi: "Missing dependencies"
+```bash
+# Kiểm tra dependencies
+ldd libnav_c_api.so
+
+# Đảm bảo tất cả dependencies đều có sẵn
+```
+
+### Lỗi: "Failed to create navigation instance"
+→ Đã được sửa! `navigation_create()` bây giờ tạo instance của `move_base::MoveBase`.
+   Nếu vẫn gặp lỗi, kiểm tra:
+   - Library đã được build đầy đủ: `make nav_c_api` trong build directory
+   - Dependencies đã được build: `make move_base costmap_2d`
+   - LD_LIBRARY_PATH đã được set đúng
+