update

src/Libraries/robot_nav_2d_utils/CMakeLists.txt

@@ -12,8 +12,8 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Find dependencies
 find_package(console_bridge REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
-find_package(xmlrpcpp QUIET)
-if(NOT xmlrpcpp_FOUND)
+find_package(robot_xmlrpcpp QUIET)
+if(NOT robot_xmlrpcpp_FOUND)
     # Try alternative package name
     find_package(XmlRpcCpp QUIET)
 endif()
@@ -63,21 +63,21 @@ target_include_directories(polygons
         $<INSTALL_INTERFACE:include>
 )
 
-if(xmlrpcpp_FOUND)
-    target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
+if(robot_xmlrpcpp_FOUND)
+    target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
-        PRIVATE ${xmlrpcpp_LIBRARIES})
+        PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 elseif(XmlRpcCpp_FOUND)
     target_include_directories(polygons PRIVATE ${XmlRpcCpp_INCLUDE_DIRS})
     target_link_libraries(polygons 
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp 
         PRIVATE ${XmlRpcCpp_LIBRARIES})
 else()
-    target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
+    target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
-        PRIVATE ${xmlrpcpp_LIBRARIES})
+        PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 endif()
 
 set_target_properties(polygons PROPERTIES

src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h

@@ -38,7 +38,7 @@
 #include <robot_nav_2d_msgs/Polygon2D.h>
 #include <robot_nav_2d_msgs/ComplexPolygon2D.h>
 #include <geometry_msgs/Pose2D.h>
-#include <xmlrpcpp/XmlRpcValue.h>
+#include <robot_xmlrpcpp/XmlRpcValue.h>
 #include <vector>
 #include <string>
 

src/Navigations/Packages/move_base/CMakeLists.txt

@@ -71,7 +71,6 @@ set(PACKAGES_DIR
   costmap_2d 
   plugins  # Link với plugins library để có StaticLayer typeinfo
   yaml-cpp
-  xmlrpcpp
   tf3_sensor_msgs
   tf3_geometry_msgs
   data_convert
@@ -118,13 +117,7 @@ target_link_libraries(move_base_main
 
 # Set RPATH for executable to find libraries in build directory first
 # Use RPATH instead of RUNPATH for higher priority
-set_target_properties(move_base_main PROPERTIES
-  BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
-  INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
-  BUILD_WITH_INSTALL_RPATH FALSE
-  INSTALL_RPATH_USE_LINK_PATH TRUE
-  SKIP_BUILD_RPATH FALSE
-)
+
 # Force use of RPATH instead of RUNPATH
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
 

src/Navigations/Packages/move_base/src/move_base.cpp

@@ -8,7 +8,6 @@
 #include <cmath>
 #include <stdexcept>
 #include <cstdlib>
-#include <xmlrpcpp/XmlRpcValue.h>
 #include <data_convert/data_convert.h>
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
 #include <boost/algorithm/string.hpp>