fix run failed

src/localization_module_lio_locus/CMakeLists.txt

@@ -25,7 +25,8 @@ find_package(yaml-cpp 0.6 REQUIRED)
 find_package(OpenMP)
 find_package(Eigen3)
 
-set(WORKSPACE_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../")
+get_filename_component(WORKSPACE_ROOT_ABS "${CMAKE_CURRENT_SOURCE_DIR}/../../" ABSOLUTE)
+set(WORKSPACE_ROOT "${WORKSPACE_ROOT_ABS}/")
 
 set(CMAKE_PREFIX_PATH "${WORKSPACE_ROOT}deps_install" ${CMAKE_PREFIX_PATH})
 set(CMAKE_INCLUDE_PATH "${WORKSPACE_ROOT}deps_install/include" ${CMAKE_INCLUDE_PATH})
@@ -60,6 +61,13 @@ if (OPENMP_FOUND)
     set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
 endif()
 
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
+set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--disable-new-dtags")
+set(CMAKE_SKIP_BUILD_RPATH  FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib;${WORKSPACE_ROOT}deps_install/lib")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
 include_directories(
     ${PCL_INCLUDE_DIRS}
     ${WORKSPACE_ROOT}deps_install/include/pcl-1.10
@@ -74,7 +82,12 @@ link_directories(
     ${WORKSPACE_ROOT}deps_install/lib
 )
 
-
+# Install PCL libraries to the package's lib directory
+install(
+    DIRECTORY ${WORKSPACE_ROOT}deps_install/lib/
+    DESTINATION lib
+    FILES_MATCHING PATTERN "libpcl_*.so*"
+)
 
 add_subdirectory(src)
 add_subdirectory(apps/nodelets)

src/localization_module_lio_locus/launch/nodelets/lio_locus.launch.py

@@ -20,7 +20,7 @@ def generate_launch_description():
             Node(
                 package="lio_locus_humble",
                 executable="lio_locus_node",
-                prefix="gdb -ex run --args",
+                #prefix="gdb -ex run --args",
                 name="lio_locus",
                 output="screen",
                 parameters=[