diff --git a/src/APIs/c_api/CMakeLists.txt b/src/APIs/c_api/CMakeLists.txt
index 4e01628..cfa9c29 100644
--- a/src/APIs/c_api/CMakeLists.txt
+++ b/src/APIs/c_api/CMakeLists.txt
@@ -46,6 +46,8 @@ target_link_libraries(nav_c_api
 
 set_target_properties(nav_c_api PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
 
 # Set include directories
diff --git a/src/Libraries/robot_cpp/CMakeLists.txt b/src/Libraries/robot_cpp/CMakeLists.txt
index a4d52c7..c28eff9 100644
--- a/src/Libraries/robot_cpp/CMakeLists.txt
+++ b/src/Libraries/robot_cpp/CMakeLists.txt
@@ -150,6 +150,8 @@ else()
 
   set_target_properties(${PROJECT_NAME} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
 
 endif()
@@ -247,6 +249,8 @@ if(BUILD_TESTS)
   
   set_target_properties(test_node_handle PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   
   # Link filesystem library if needed
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index 13df305..a8fb7af 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -131,19 +131,29 @@ else()
   )
 
   set_target_properties(${PROJECT_NAME}_conversions PROPERTIES
-  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   set_target_properties(${PROJECT_NAME}_path_ops PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   set_target_properties(${PROJECT_NAME}_polygons PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   set_target_properties(${PROJECT_NAME}_bounds PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   set_target_properties(${PROJECT_NAME}_tf_help PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
   # Note: ${PROJECT_NAME} is an INTERFACE library, so it cannot have LIBRARY_OUTPUT_DIRECTORY
 
diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
index c31b683..ab5e6ed 100755
--- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
+++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
@@ -41,6 +41,7 @@
 #include <robot_xmlrpcpp/XmlRpcValue.h>
 #include <vector>
 #include <string>
+#include <stdexcept>
 
 namespace robot_nav_2d_utils
 {
diff --git a/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt b/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
index ef16f43..be56ca7 100644
--- a/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
+++ b/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
@@ -83,7 +83,9 @@ else()
   )
 
   set_target_properties(${PROJECT_NAME} PROPERTIES
-  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
 
   target_include_directories(${PROJECT_NAME}