fix load path so

src/Libraries/robot_cpp/include/robot/plugin_loader_helper.h

@@ -89,7 +89,7 @@ public:
 
 private:
   /**
-   * @brief Resolve library path (handle relative paths, search in search_paths)
+   * @brief Resolve library path (absolute, then PNKX_NAV_CORE_LIBRARY_PATH, search_paths_, cwd)
    * @param library_path Path from config (may be relative or absolute)
    * @return Resolved absolute path, or empty if not found
    */

src/Libraries/robot_cpp/src/plugin_loader_helper.cpp

@@ -98,7 +98,6 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
       }
     }
   }
-
   // Try LD_LIBRARY_PATH as fallback
   const char* ld_path = std::getenv("LD_LIBRARY_PATH");
   if (ld_path) {
@@ -199,21 +198,27 @@ std::string PluginLoaderHelper::resolveLibraryPath(const std::string& library_pa
     return "";
   }
 
-  // If relative path, search in search_paths (build directory is already added)
-  std::string build_dir = getBuildDirectory();
-  if (!build_dir.empty()) {
-    // First try in build directory
-    // Add .so extension if not present
+  // If relative path, search under PNKX_NAV_CORE_LIBRARY_PATH (':'-separated, like LD_LIBRARY_PATH)
+  const char* nav_lib_path_env = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
+  if (nav_lib_path_env) {
     std::string lib_path_with_ext = library_path;
     if (lib_path_with_ext.find(".so") == std::string::npos) {
       lib_path_with_ext += ".so";
     }
-    std::filesystem::path full_path = std::filesystem::path(build_dir) / lib_path_with_ext;
-    if (std::filesystem::exists(full_path)) {
-      try {
-        return std::filesystem::canonical(full_path).string();
-      } catch (...) {
-        return full_path.string();
+    std::string nav_lib_paths(nav_lib_path_env);
+    std::stringstream ss(nav_lib_paths);
+    std::string base_dir;
+    while (std::getline(ss, base_dir, ':')) {
+      if (base_dir.empty()) {
+        continue;
+      }
+      std::filesystem::path full_path = std::filesystem::path(base_dir) / lib_path_with_ext;
+      if (std::filesystem::exists(full_path)) {
+        try {
+          return std::filesystem::canonical(full_path).string();
+        } catch (...) {
+          return full_path.string();
+        }
       }
     }
   }