Fix suffix used for Python libraries in rclpy and rosbag2-py on Windows (#97)

* Fix suffix used for Python libraries

* Update ros-galactic-rclpy.patch

* Update ros-galactic-rosbag2-py.patch

* Trigger CI

* Update ros-galactic-rclpy.patch

* Rebuild packages

* Update ros-galactic-rclpy.patch

* Update ros-galactic-rclpy.patch

* Update vinca_win.yaml

Co-authored-by: Tobias Fischer <info@tobiasfischer.info>

Author: traversaro

patch/ros-galactic-rclpy.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9d0379d..37a7a18 100644
+index 9d0379d..53302d6 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -14,6 +14,8 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -11,7 +11,7 @@ index 9d0379d..37a7a18 100644
  find_package(ament_cmake REQUIRED)
  find_package(ament_cmake_python REQUIRED)
  find_package(rcl REQUIRED)
-@@ -25,27 +27,10 @@ find_package(rcutils REQUIRED)
+@@ -25,27 +27,9 @@ find_package(rcutils REQUIRED)
  find_package(rmw REQUIRED)
  find_package(rmw_implementation_cmake REQUIRED)
 
@@ -25,9 +25,9 @@ index 9d0379d..37a7a18 100644
 -  # pybind11 will setup the build for debug now.
 -  set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
 -endif()
-+find_package(Python COMPONENTS Interpreter Development)
- 
+-
 -find_package(pybind11_vendor REQUIRED)
++find_package(Python COMPONENTS Interpreter Development)
  find_package(pybind11 REQUIRED)
 
 -if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
@@ -40,7 +40,7 @@ index 9d0379d..37a7a18 100644
  function(clean_windows_flags target)
    # Hack to avoid pybind11 issue.
    #
-@@ -109,11 +94,13 @@ endif()
+@@ -109,11 +93,13 @@ endif()
 
  # Set the build location and install location for a CPython extension
  function(configure_build_install_location _library_name)
@@ -59,26 +59,24 @@ index 9d0379d..37a7a18 100644
 
    # Install library for actual use
    install(TARGETS ${_library_name}
-@@ -128,10 +115,17 @@ add_library(rclpy_common SHARED
+@@ -128,10 +114,15 @@ add_library(rclpy_common SHARED
  )
  target_link_libraries(rclpy_common PUBLIC
    pybind11::pybind11
 -  ${PYTHON_LIBRARIES}
    rcl::rcl
    rmw::rmw
  )
-+
 +if(NOT APPLE)
 +  target_link_libraries(rclpy_common PUBLIC ${Python_LIBRARIES})
 +else()
 +  set_target_properties(rclpy_common PROPERTIES
 +                        LINK_FLAGS "-undefined dynamic_lookup")
 +endif()
-+
  target_include_directories(rclpy_common PUBLIC
    src/rclpy_common/include
  )
-@@ -147,7 +141,7 @@ install(TARGETS rclpy_common
+@@ -147,7 +138,7 @@ install(TARGETS rclpy_common
  )
 
  # Split from main extension and converted to pybind11
@@ -87,22 +85,23 @@ index 9d0379d..37a7a18 100644
    src/rclpy/_rclpy_action.cpp
    src/rclpy/_rclpy_handle.cpp
    src/rclpy/_rclpy_logging.cpp
-@@ -177,6 +171,8 @@ pybind11_add_module(_rclpy_pybind11 SHARED
+@@ -177,6 +168,10 @@ pybind11_add_module(_rclpy_pybind11 SHARED
    src/rclpy/utils.cpp
    src/rclpy/wait_set.cpp
  )
 +set_target_properties(_rclpy_pybind11 PROPERTIES PREFIX "")
-+
++if(WIN32)
++  set_target_properties(_rclpy_pybind11 PROPERTIES SUFFIX ".pyd")
++endif()
  target_include_directories(_rclpy_pybind11 PRIVATE
    src/rclpy/
  )
-@@ -187,18 +183,23 @@ target_link_libraries(_rclpy_pybind11 PRIVATE
+@@ -187,18 +182,24 @@ target_link_libraries(_rclpy_pybind11 PRIVATE
    rclpy_common
    rcpputils::rcpputils
    rcutils::rcutils
 +  pybind11::module
  )
-+
  configure_build_install_location(_rclpy_pybind11)
  clean_windows_flags(_rclpy_pybind11)
 
@@ -112,7 +111,9 @@ index 9d0379d..37a7a18 100644
    src/rclpy/_rclpy_signal_handler.c
  )
 +set_target_properties(_rclpy_signal_handler PROPERTIES PREFIX "")
-+
++if(WIN32)
++  set_target_properties(_rclpy_signal_handler PROPERTIES SUFFIX ".pyd")
++endif()
  target_link_libraries(_rclpy_signal_handler PRIVATE
    rclpy_common
    rcl::rcl

patch/ros-galactic-rosbag2-py.patch

@@ -11,11 +11,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_reader.cpp
  )
  ament_target_dependencies(_reader PUBLIC
-@@ -77,8 +77,12 @@ ament_target_dependencies(_reader PUBLIC
+@@ -77,8 +77,15 @@ ament_target_dependencies(_reader PUBLIC
    "rosbag2_storage"
  )
  clean_windows_flags(_reader)
 +set_target_properties(_reader PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_reader PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_reader PRIVATE
 +  pybind11::module
 +)
@@ -25,11 +28,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_storage.cpp
    src/rosbag2_py/format_bag_metadata.cpp
  )
-@@ -87,8 +91,12 @@ ament_target_dependencies(_storage PUBLIC
+@@ -87,8 +91,15 @@ ament_target_dependencies(_storage PUBLIC
    "rosbag2_storage"
  )
  clean_windows_flags(_storage)
 +set_target_properties(_storage PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_storage PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_storage PRIVATE
 +  pybind11::module
 +)
@@ -39,11 +45,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_writer.cpp
  )
  ament_target_dependencies(_writer PUBLIC
-@@ -97,8 +105,12 @@ ament_target_dependencies(_writer PUBLIC
+@@ -97,8 +105,15 @@ ament_target_dependencies(_writer PUBLIC
    "rosbag2_storage"
  )
  clean_windows_flags(_writer)
 +set_target_properties(_writer PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_writer PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_writer PRIVATE
 +  pybind11::module
 +)
@@ -53,11 +62,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_info.cpp
  )
  ament_target_dependencies(_info PUBLIC
-@@ -106,8 +118,12 @@ ament_target_dependencies(_info PUBLIC
+@@ -106,8 +118,15 @@ ament_target_dependencies(_info PUBLIC
    "rosbag2_storage"
  )
  clean_windows_flags(_info)
 +set_target_properties(_info PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_info PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_info PRIVATE
 +  pybind11::module
 +)
@@ -67,11 +79,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_transport.cpp
  )
  ament_target_dependencies(_transport PUBLIC
-@@ -117,8 +133,12 @@ ament_target_dependencies(_transport PUBLIC
+@@ -117,8 +133,15 @@ ament_target_dependencies(_transport PUBLIC
    "rosbag2_transport"
  )
  clean_windows_flags(_transport)
 +set_target_properties(_transport PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_transport PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_transport PRIVATE
 +  pybind11::module
 +)
@@ -81,11 +96,14 @@ index a5284cad..8f925de2 100644
    src/rosbag2_py/_reindexer.cpp
  )
  ament_target_dependencies(_reindexer PUBLIC
-@@ -126,6 +146,10 @@ ament_target_dependencies(_reindexer PUBLIC
+@@ -126,6 +146,13 @@ ament_target_dependencies(_reindexer PUBLIC
    "rosbag2_storage"
  )
  clean_windows_flags(_reindexer)
 +set_target_properties(_reindexer PROPERTIES PREFIX "")
++if(WIN32)
++  set_target_properties(_reindexer PROPERTIES SUFFIX ".pyd")
++endif()
 +target_link_libraries(_reindexer PRIVATE
 +  pybind11::module
 +)

vinca_win.yaml

@@ -5,15 +5,15 @@ conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 3
+build_number: 4
 
 mutex_package: ros2-distro-mutex 0.2 galactic
 
 skip_all_deps: false
 
 # If full rebuild, the build number of the existing package has
 # to match the selected build number for skipping
-full_rebuild: true
+full_rebuild: false
 
 packages_skip_by_deps:
   - iceoryx_utils
@@ -34,13 +34,15 @@ skip_existing:
   - https://conda.anaconda.org/robostack-experimental/
 
 packages_select_by_deps:
-  - ros_workspace
-  - ros_environment
-  - ros_base
-  - rviz2  # needs to be built separately as otherwise build timeouts occur
-  - desktop  # see above
-  - moveit
-  - navigation2
+  - rclpy
+  - rosbag2-py
+  # - ros_workspace
+  # - ros_environment
+  # - ros_base
+  # - rviz2  # needs to be built separately as otherwise build timeouts occur
+  # - desktop  # see above
+  # - moveit
+  # - navigation2
   # - joint-state-broadcaster
   # - joint-state-publisher
   # - joint-trajectory-controller
@@ -54,4 +56,6 @@ packages_select_by_deps:
   # - vision-opencv
   # - ackermann-msgs
 
+
 patch_dir: patch
+