From a47113027384d5fa869e3580db11c8c286687b0d Mon Sep 17 00:00:00 2001
From: HiepLM <hiepleminh01@gmail.com>
Date: Mon, 5 Jan 2026 10:52:57 +0700
Subject: [PATCH] update

---
 CMakeLists.txt                                |  6 +--
 src/Libraries/robot_cpp/CMakeLists.txt        | 45 +++++++------------
 .../robot_nav_2d_utils/CMakeLists.txt         |  5 ---
 src/Libraries/xmlrpcpp                        |  2 +-
 4 files changed, 20 insertions(+), 38 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4515bfa..f45e38a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -146,9 +146,9 @@ if (NOT TARGET move_base)
 endif()
 
 # C API for .NET/C# integration
-# if (NOT TARGET navigation_c_api)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
-# endif()
+if (NOT TARGET navigation_c_api)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
+endif()
 
 message(STATUS "========================================")
 message(STATUS "All packages configured successfully")
diff --git a/src/Libraries/robot_cpp/CMakeLists.txt b/src/Libraries/robot_cpp/CMakeLists.txt
index 85490ef..91e0193 100644
--- a/src/Libraries/robot_cpp/CMakeLists.txt
+++ b/src/Libraries/robot_cpp/CMakeLists.txt
@@ -173,6 +173,10 @@ target_include_directories(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
     ${YAML_CPP_TARGET}
+    robot_xmlrpcpp
+    robot_time
+  PRIVATE
+    dl  # Required for dladdr() function used in plugin_loader_helper.cpp
 )
 
 # Check if we're using static library and warn user
@@ -186,29 +190,6 @@ if(YAML_CPP_TARGET MATCHES "\\.a$" OR YAML_CPP_TARGET MATCHES "libyaml-cpp\\.a")
   )
 endif()
 
-# console_bridge: use library variable if available, otherwise try target
-if(console_bridge_LIBRARIES)
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${console_bridge_LIBRARIES})
-elseif(TARGET console_bridge::console_bridge)
-  target_link_libraries(${PROJECT_NAME} PUBLIC console_bridge::console_bridge)
-else()
-  # Fallback: link directly
-  target_link_libraries(${PROJECT_NAME} PUBLIC console_bridge)
-endif()
-
-if(BUILDING_WITH_CATKIN)
-  target_link_libraries(${PROJECT_NAME}
-    PUBLIC
-      ${catkin_LIBRARIES}
-  )
-else()
-  # Standalone mode: link internal dependencies
-  target_link_libraries(${PROJECT_NAME}
-    PUBLIC
-      robot_xmlrpcpp
-      robot_time
-  )
-endif()
 
 ## Add cmake target dependencies
 if(BUILDING_WITH_CATKIN)
@@ -229,13 +210,14 @@ target_compile_definitions(${PROJECT_NAME}
 # Installation (Standalone CMake only)
 # ========================================================
 
-if(NOT BUILDING_WITH_CATKIN)
-  install(TARGETS ${PROJECT_NAME}
-    EXPORT ${PROJECT_NAME}-targets
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}-targets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
+if(NOT BUILDING_WITH_CATKIN)
   install(DIRECTORY include/
     DESTINATION include
     FILES_MATCHING PATTERN "*.h")
@@ -259,6 +241,11 @@ if(NOT BUILDING_WITH_CATKIN)
     ${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
     DESTINATION lib/cmake/${PROJECT_NAME}
   )
+else()
+  # Khi build với Catkin, vẫn cần export để các target khác có thể export
+  install(EXPORT ${PROJECT_NAME}-targets
+    # NAMESPACE robot::
+    DESTINATION lib/cmake/${PROJECT_NAME})
 endif()
 
 # ========================================================
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index 61def94..4e90a4c 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -12,11 +12,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Find dependencies
 find_package(console_bridge REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
-find_package(robot_xmlrpcpp QUIET)
-if(NOT robot_xmlrpcpp_FOUND)
-    # Try alternative package name
-    find_package(XmlRpcCpp QUIET)
-endif()
 
 # Libraries
 add_library(conversions src/conversions.cpp)
diff --git a/src/Libraries/xmlrpcpp b/src/Libraries/xmlrpcpp
index bb14979..a933044 160000
--- a/src/Libraries/xmlrpcpp
+++ b/src/Libraries/xmlrpcpp
@@ -1 +1 @@
-Subproject commit bb14979b8a80b743a4dd41b43b5474d4c1a2fc3f
+Subproject commit a93304418d9e20c841dd8bf0ea9c9755eb57601f