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/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp

@@ -398,7 +398,6 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
   else if (!ret_nav_)
   {
     traj = nav_algorithm_->calculator(pose, velocity);
-
     if (!dkpl_.empty() && dkpl_.front()->initialized_ && dkpl_.front()->is_detected_ && !dkpl_.front()->is_goal_reached_)
     {
       if (dkpl_.front()->docking_nav_ && !dkpl_.front()->docking_planner_)
@@ -406,9 +405,17 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
         traj = dkpl_.front()->docking_nav_->calculator(pose, velocity);
       }
     }
+    local_plan_.header.stamp = robot::Time::now();
+    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
+    local_plan_ = robot_nav_2d_utils::pathToPath(path);
   }
   else
+  {
     traj = rotate_algorithm_->calculator(pose, velocity);
+    local_plan_.header.stamp = robot::Time::now();
+    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
+    local_plan_ = robot_nav_2d_utils::pathToPath(path);
+  }
 
   cmd_vel.velocity = traj.velocity;
   return cmd_vel;

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) {
@@ -199,16 +198,21 @@ std::string PluginLoaderHelper::resolveLibraryPath(const std::string& library_pa
     return "";
   }
 
-  // If relative path, search in search_paths (build directory is already added)
+  // If relative path, search under PNKX_NAV_CORE_LIBRARY_PATH (':'-separated, like LD_LIBRARY_PATH)
-  std::string build_dir = getBuildDirectory();
+  const char* nav_lib_path_env = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
-  if (!build_dir.empty()) {
+  if (nav_lib_path_env) {
-    // First try in build directory
-    // Add .so extension if not present
     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;
+    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();
@@ -217,6 +221,7 @@ std::string PluginLoaderHelper::resolveLibraryPath(const std::string& library_pa
         }
       }
     }
+  }
 
   // Try in search_paths
   for (const auto& base_path : search_paths_) {