From d43d23aa0a2a212a35dec748103188c7a00a8408 Mon Sep 17 00:00:00 2001
From: Haves Irfan <20160532+ha-ves@users.noreply.github.com>
Date: Thu, 1 Aug 2024 00:39:49 +0900
Subject: [PATCH 1/2] rcl init overload

---
 rcldotnet/RCLdotnet.cs | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/rcldotnet/RCLdotnet.cs b/rcldotnet/RCLdotnet.cs
index eeefea8a..f9b37571 100644
--- a/rcldotnet/RCLdotnet.cs
+++ b/rcldotnet/RCLdotnet.cs
@@ -1470,14 +1470,29 @@ public static void SpinOnce(Node node, long timeout)
             }
         }
 
+        /// <summary>
+        /// Initialize ROS2 with app's launch arguments.
+        /// </summary>
         public static void Init()
+        {
+            string[] args = System.Environment.GetCommandLineArgs();
+            Init(args);
+        }
+
+        /// <summary>
+        /// Initialize ROS2 with supplied arguments.
+        /// </summary>
+        /// <remarks>
+        /// This is overloaded so that it can support arguments set up during run-time.
+        /// </remarks>
+        /// <param name="args">ROS2 arguments to pass along.</param>
+        public static void Init(string[] args)
         {
             lock (syncLock)
             {
                 if (!initialized)
                 {
-                    string[] args = System.Environment.GetCommandLineArgs();
-                    RCLRet ret = RCLdotnetDelegates.native_rcl_init(args.Length, args);
+                    RCLRet ret = RCLdotnetDelegates.native_rcl_init(args.Length, args.Length <= 0 ? null : args);
                     RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(RCLdotnetDelegates.native_rcl_init)}() failed.");
                     initialized = true;
                 }

From fa354bd95dd0e7fb14c07f451597b8031e7de4e4 Mon Sep 17 00:00:00 2001
From: Haves Irfan <20160532+ha-ves@users.noreply.github.com>
Date: Fri, 2 Aug 2024 04:29:11 +0900
Subject: [PATCH 2/2] loadlib custom path under executable directory

---
 rcldotnet_common/DllLoadUtils.cs | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/rcldotnet_common/DllLoadUtils.cs b/rcldotnet_common/DllLoadUtils.cs
index 43f0ecef..4c2d000f 100644
--- a/rcldotnet_common/DllLoadUtils.cs
+++ b/rcldotnet_common/DllLoadUtils.cs
@@ -16,6 +16,7 @@
 // Based on http://dimitry-i.blogspot.com.es/2013/01/mononet-how-to-dynamically-load-native.html
 
 using System;
+using System.IO;
 using System.Runtime.InteropServices;
 
 namespace ROS2
@@ -195,6 +196,8 @@ public void RegisterNativeFunction<FunctionType>(IntPtr nativeLibrary, string na
                 IntPtr nativeFunctionPointer = GetProcAddress(nativeLibrary, nativeFunctionName);
                 functionDelegate = (FunctionType)Marshal.GetDelegateForFunctionPointer(nativeFunctionPointer, typeof(FunctionType));
             }
+
+            public const string AssemblyDirectory = "ros2";
         }
 
         public class DllLoadUtilsUWP : DllLoadUtilsAbs
@@ -215,7 +218,7 @@ public class DllLoadUtilsUWP : DllLoadUtilsAbs
 
             public override IntPtr LoadLibrary(string fileName)
             {
-                string libraryName = fileName + "_native.dll";
+                string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, fileName + "_native.dll");
                 IntPtr ptr = LoadPackagedLibraryUWP(libraryName);
                 if (ptr == IntPtr.Zero)
                 {
@@ -228,6 +231,9 @@ public override IntPtr LoadLibrary(string fileName)
         public class DllLoadUtilsWindowsDesktop : DllLoadUtilsAbs
         {
 
+            [DllImport("kernel32.dll", EntryPoint = "GetLastError", SetLastError = true, ExactSpelling = true)]
+            private static extern int GetLastError();
+
             [DllImport("kernel32.dll", EntryPoint = "LoadLibraryA", SetLastError = true, ExactSpelling = true)]
             private static extern IntPtr LoadLibraryA(string fileName, int reserved = 0);
 
@@ -243,7 +249,7 @@ public class DllLoadUtilsWindowsDesktop : DllLoadUtilsAbs
 
             public override IntPtr LoadLibrary(string fileName)
             {
-                string libraryName = fileName + "_native.dll";
+                string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, fileName + "_native.dll");
                 IntPtr ptr = LoadLibraryA(libraryName);
                 if (ptr == IntPtr.Zero)
                 {
@@ -287,7 +293,7 @@ public override IntPtr GetProcAddress(IntPtr dllHandle, string name)
 
             public override IntPtr LoadLibrary(string fileName)
             {
-                string libraryName = "lib" + fileName + "_native.so";
+                string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, "lib" + fileName + "_native.so");
                 IntPtr ptr = dlopen(libraryName, RTLD_NOW);
                 if (ptr == IntPtr.Zero)
                 {
@@ -334,7 +340,7 @@ public override IntPtr GetProcAddress(IntPtr dllHandle, string name)
 
             public override IntPtr LoadLibrary(string fileName)
             {
-                string libraryName = "lib" + fileName + "_native.dylib";
+                string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, "lib" + fileName + "_native.dylib");
                 IntPtr ptr = dlopen(libraryName, RTLD_NOW);
                 if (ptr == IntPtr.Zero)
                 {