diff --git a/examples/NavigationExample/Program.cs b/examples/NavigationExample/Program.cs
index a483249..0fd7206 100644
--- a/examples/NavigationExample/Program.cs
+++ b/examples/NavigationExample/Program.cs
@@ -406,9 +406,9 @@ namespace NavigationExample
 
 
             // Console.WriteLine("Docking to docking_point");
-            // NavigationAPI.navigation_dock_to_order(navHandle, order, "charger", goal);
+            NavigationAPI.navigation_dock_to(navHandle, "charger", goal);
 
-            NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal);
+            // NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal);
 
             // NavigationAPI.navigation_move_to_order(navHandle, order, goal);
             NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0);
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
index 07ef9b6..42c952b 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
@@ -593,7 +593,8 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
   {
     try
     {
-      std::string path_file_so = "/home/robotics/AGV/Diff_Wheel_Prj/pnkx_robot_nav_core2/build/src/Algorithms/Packages/local_planners/pnkx_local_planner/libpnkx_local_planner.so";
+      robot::PluginLoaderHelper loader;
+      std::string path_file_so = loader.findLibraryPath(docking_planner_name_);
       docking_planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
         path_file_so, docking_planner_name_, boost::dll::load_mode::append_decorations);
       docking_planner_ = docking_planner_loader_();
@@ -616,7 +617,8 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
   {
     try
     {
-      std::string path_file_so = "/home/robotics/AGV/Diff_Wheel_Prj/pnkx_robot_nav_core2/build/src/Algorithms/Packages/local_planners/pnkx_local_planner/libpnkx_local_planner.so";
+      robot::PluginLoaderHelper loader;
+      std::string path_file_so = loader.findLibraryPath(docking_nav_name_);
       docking_nav_loader_ = boost::dll::import_alias<score_algorithm::ScoreAlgorithm::Ptr()>(
         path_file_so, docking_nav_name_, boost::dll::load_mode::append_decorations);
       docking_nav_ = docking_nav_loader_();