add so file

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

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

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
 

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
 {

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}