How do I correctly link a shared object (.so file) in a makefile when cross-compiling?

I have some C++ code on an openSuse platform that I need to compile to be executed on a different linux-based target. Part of the code is a dynamic library libfoo.so. I compile everything with make and then copy the compiled executable prog together with the libfoo.so to the target. When I then run the executable, I get some errors indicating the libfoo could not be initialized. I've tried everything I could find to tell the executable where it can find the libfoo.so but I still get the error.

Could anybody tell me what I am doing wrong here? I feel like it could be an error in the Makefile.

I am very new to C++ and using Makefiles in general, and on top of it all, the target runs kind of a proprietary linux version, so I cannot provide much information about it. I do have the appropriate compiler for it though.

My directory structure on the openSuse platform:

|src
|--Foolib
|----foolib.h
|----libfoo.so
|--Otherlib
|----otherlib.h
|----otherlib.hpp
|---+OtherlibSrcDirectory
|--bar.cpp
|--bar.h
|--Makefile

Directory structure on the target:

|program
|--libfoo.so
|--prog

My Makefile:

LIBS = -LFoolib -lfoo
INC = -I OtherLib -I Foolib
CXXFLAGS += -lpthread -std=c++11 -D_GLIBCXX_USE_NANOSLEEP $(INC)
LDFLAGS = '-Wl,-rpath,$$ORIGIN'
SRC_FILES = bar.cpp
OBJ =  $(SRC_FILES:%.cpp=%.o)

prog: $(OBJ)
    $(CXX) $(CXXFLAGS) $(LDFLAGS) $(LIBS) -o $@ $^

%.o: %.cpp
    $(CXX) $(CXXFLAGS) $(LIBS) -c $<

Basically, bar.h includes Foolib/foolib.h as well as Otherlib/OtherlibSrcDirectory and bar.cpp includes bar.h. Then some functions from foolib.h are called in bar.cpp and they return error values. If necessary I can provide some more insights into the code but I'll leave it out for now to keep it a bit shorter.

Any help would be highly appreciated!