From 22031be01d9f9567b45111d4697ec2e96f498f81 Mon Sep 17 00:00:00 2001
From: "Ethan J. Musser" <emusser@carnegierobotics.com>
Date: Mon, 27 Apr 2026 12:54:40 -0400
Subject: [PATCH] cmake: Specify rel. RPATH for install-time prefix

---
 CMakeLists.txt | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f31514c7..6afea221 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -130,11 +130,19 @@ else()
 endif()
 
 #
-# Use full RPATH
+# Specify a relative RPATH to support both configure-time and install-time prefixes.
 #
 set (CMAKE_SKIP_BUILD_RPATH FALSE)
 set (CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-set (CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
+if(APPLE)
+    set(CMAKE_INSTALL_RPATH "@loader_path/../lib")
+elseif(UNIX)
+    # [[ ]] keeps $ORIGIN literal for the linker instead of letting CMake expand it.
+    set(CMAKE_INSTALL_RPATH [[$ORIGIN/../lib]])
+else()
+    # RPATH is not supported for non-ELF platforms. Keep the configure-time default.
+    set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+endif()
 set (CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 #