Create sdformat_urdf_plugin as SHARED instead of MODULE for macOS compatibility #22
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This will avoid that downstream users suggest workarounds as manually creating links, as done in https://github.com/ArduPilot/ardupilot_gz/blame/49706c77b962615e8e305bd893bc3fde0dd71974/README.md#L156 and RoboStack/ros-humble#104, fyi @srmainwaring @Ryanf55 |
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Thanks for the PR! |
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Technically speaking, when creating a library is only meant to be opened via
dlopen(and not linked at link time)MODULEis instead the correct library type. However, this does not work in pluginlib (see ros/pluginlib#200), so as a workaround to get this plugin to work on macOS, we changesdformat_urdf_pluginto be aSHAREDlibrary, not aMODULElibrary. This also is aligned with what is done with the urdf_parser (see https://github.com/ros2/urdf/blob/1d257eb6a3fa34593c0da67f5d16cd0155d7d91b/urdf/CMakeLists.txt#L58). On Windows and Linux, changing from MODULE to SHARED does not change anything, as far as I know.A similar issue on Gazebo side is gazebosim/gazebo-classic#800 .