fix load path so

examples/NavigationExample/NavigationExample.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFramework>net6.0</TargetFramework>
+    <TargetFramework>net10.0</TargetFramework>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
   </PropertyGroup>
   <ItemGroup>

src/APIs/c_api/src/nav_c_api.cpp

@@ -83,6 +83,7 @@ extern "C" NavigationHandle navigation_create(void)
     // Using default constructor - initialization will be done via navigation_initialize()
     robot::PluginLoaderHelper loader;
     std::string path_file_so = loader.findLibraryPath("MoveBase");
+    robot::log_warning("%s", path_file_so.c_str());
     auto move_base_loader = boost::dll::import_alias<robot::move_base_core::BaseNavigation::Ptr()>(
         path_file_so, "MoveBase", boost::dll::load_mode::append_decorations);
     auto move_base_ptr = move_base_loader();

src/Libraries/robot_cpp/include/robot/plugin_loader_helper.h

@@ -89,7 +89,7 @@ public:
 
 private:
   /**
-   * @brief Resolve library path (handle relative paths, search in search_paths)
+   * @brief Resolve library path (absolute, then PNKX_NAV_CORE_LIBRARY_PATH, search_paths_, cwd)
    * @param library_path Path from config (may be relative or absolute)
    * @return Resolved absolute path, or empty if not found
    */

src/Libraries/robot_cpp/src/plugin_loader_helper.cpp

@@ -98,7 +98,6 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
       }
     }
   }
-
   // Try LD_LIBRARY_PATH as fallback
   const char* ld_path = std::getenv("LD_LIBRARY_PATH");
   if (ld_path) {
@@ -199,21 +198,27 @@ std::string PluginLoaderHelper::resolveLibraryPath(const std::string& library_pa
     return "";
   }
 
-  // If relative path, search in search_paths (build directory is already added)
-  std::string build_dir = getBuildDirectory();
-  if (!build_dir.empty()) {
-    // First try in build directory
-    // Add .so extension if not present
+  // If relative path, search under PNKX_NAV_CORE_LIBRARY_PATH (':'-separated, like LD_LIBRARY_PATH)
+  const char* nav_lib_path_env = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
+  if (nav_lib_path_env) {
     std::string lib_path_with_ext = library_path;
     if (lib_path_with_ext.find(".so") == std::string::npos) {
       lib_path_with_ext += ".so";
     }
-    std::filesystem::path full_path = std::filesystem::path(build_dir) / lib_path_with_ext;
-    if (std::filesystem::exists(full_path)) {
-      try {
-        return std::filesystem::canonical(full_path).string();
-      } catch (...) {
-        return full_path.string();
+    std::string nav_lib_paths(nav_lib_path_env);
+    std::stringstream ss(nav_lib_paths);
+    std::string base_dir;
+    while (std::getline(ss, base_dir, ':')) {
+      if (base_dir.empty()) {
+        continue;
+      }
+      std::filesystem::path full_path = std::filesystem::path(base_dir) / lib_path_with_ext;
+      if (std::filesystem::exists(full_path)) {
+        try {
+          return std::filesystem::canonical(full_path).string();
+        } catch (...) {
+          return full_path.string();
+        }
       }
     }
   }