Remove `SHARED` from `pybind11_add_module`

[wolfv]

trafficstars

When the module is compiled with MODULE (the default), the proper linker flags are added on macOS (specifically -undefined dynamic_lookup). Otherwise, rclpy segfaults when linked on conda.

Is the SHARED really necessary? The pybind11 documentation says:

Specifying SHARED will create a more traditional dynamic library which can also be linked from elsewhere.

Is anyone linking against this library as a "traditional dynamic library"?

[sloretz]

Seems like a reasonable change to me.

Is anyone linking against this library as a "traditional dynamic library"?

I'm not sure. Let's find out!

CI (repos file build: --packages-above-and-dependencies rclpy test: --packages-above rclpy)

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[wolfv]

I guess that means .. it works?! :)

[wolfv]

If I understand the CI correctly, then something went wrong in a package on Windows? Do you think that's related to this change?

[clalancette]

If I understand the CI correctly, then something went wrong in a package on Windows? Do you think that's related to this change?

Unclear. It may be, because we don't see that same failure in the nightly builds: https://ci.ros2.org/view/nightly/job/nightly_win_rel/3083/

[wolfv]

Damnation.

[wolfv]

I would be happy to make this conditional (keep the current one on Windows). I don't really think that it should change anything though.

[fujitatomoya]

@Mergifyio rebase

[mergify[bot]]

rebase

✅ Branch has been successfully rebased

[fujitatomoya]

Pulls: ros2/rclpy#1305 Gist: https://gist.githubusercontent.com/fujitatomoya/f3edff6e70e07b92b751acd2dc92783e/raw/1f035dde991304b202c0027dce36b57e2315302c/ros2.repos BUILD args: --packages-above-and-dependencies rclpy TEST args: --packages-above rclpy ROS Distro: rolling Job: ci_launcher ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15253

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[traversaro]

Great, now Windows CI seems to be happy, together with all other builds.

[traversaro]

Thanks!

[ahcorde]

do we need to backport this to jazzy ?

[traversaro]

do we need to backport this to jazzy ?

That would permit to fix the macos crashes on conda-forge on vanilla build from sources. On robostack we have a patch for this on both jazzy and humble so we do not strictly need to backport this, but it is beneficial for someone build stock ROS 2 without patches.

[traversaro]

I also propagate this changes on other ros2 repos that were affected by this problem:

• https://github.com/ros2/rosbag2/pull/1929
• https://github.com/ros2/ros2_tracing/pull/154
• https://github.com/ros2/netperf/pull/2

[ahcorde]

https://github.com/Mergifyio backport jazzy humble

[mergify[bot]]

backport jazzy humble

✅ Backports have been created

• #1421 Remove SHARED from pybind11_add_module (backport #1305) has been created for branch jazzy
• #1422 Remove SHARED from pybind11_add_module (backport #1305) has been created for branch humble