Configurable ROS2 initialization arguments and perhaps native subdirectory path library loading?

[ha-ves]

This was simple,

1. A better configuration for ROS2 initialization arguments,
2. For Windows, to better organize the dynamic-linked ROS2 binaries in a subfolder in case of a tooling app.

So,

• Followed ROS2 initialization by overloading Init() method for args,
• Added Path combining in DllLoadUtils for subfolder with constant name. (& Absolute Path-ing)

You can choose not to include the library loading part, but the initialization part is better because if you're running the executable from CMD/PowerShell, the args[0] will be the executable path.

[timonmentink]

IMHO this is a bit of a patch.
The search path should not be set to a hard path, as you cannot change the path of the library now. it is better to use the "AddDllDirectory" function. https://learn.microsoft.com/en-us/windows/win32/api/libloaderapi/nf-libloaderapi-adddlldirectory.
This is also the recommended solution from microsoft in the LoadLibraryA function https://learn.microsoft.com/en-us/windows/win32/api/libloaderapi/nf-libloaderapi-loadlibrarya

[ha-ves]

How about the UWP part? I haven't found any recommendation on loading from sub-directory in UWP.

[timonmentink]

seems like there is no "addDllDirectory" for UWP. but following the microsoft documentation it says that you need to add the path to the packagedepency in the application package manifest https://learn.microsoft.com/en-us/windows/win32/api/winbase/nf-winbase-loadpackagedlibrary