Build dynamically using visibility control

CMakeLists.txt

@@ -23,15 +23,13 @@ include_directories(include
     ${EIGEN3_INCLUDE_DIR}
 )
 
-add_library(laser_geometry src/laser_geometry.cpp)
+add_library(laser_geometry SHARED src/laser_geometry.cpp)
 target_link_libraries(laser_geometry
     ${rclcpp_LIBRARIES}
     ${sensor_msgs_LIBRARIES}
     ${tf2_LIBRARIES}
 )
 
-set_property(TARGET laser_geometry PROPERTY POSITION_INDEPENDENT_CODE ON)
-
 ament_export_include_directories(include)
 ament_export_interfaces(laser_geometry)
 ament_export_libraries(laser_geometry)

include/laser_geometry/laser_geometry.hpp

@@ -41,6 +41,7 @@
 #include "tf2/buffer_core.h"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
+#include "laser_geometry/visibility_control.hpp"
 
 namespace laser_geometry
 {
@@ -92,7 +93,7 @@ enum ChannelOption
  * - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
  */
 
-// TODO(anyone): the support for PointCloud1 has been removed, since PointCloud1 is deprecated.
+// TODO(Martin-Idel-SI): the support for PointCloud1 has been removed for now.
 // Refer to the GitHub issue #29: https://github.com/ros-perception/laser_geometry/issues/29
 
 class LaserProjection
@@ -117,6 +118,7 @@ public:
    *   channel_option::Intensity, channel_option::Index,
    *   channel_option::Distance, channel_option::Timestamp.
    */
+  LASER_GEOMETRY_PUBLIC
   void projectLaser(
     const sensor_msgs::msg::LaserScan & scan_in,
     sensor_msgs::msg::PointCloud2 & cloud_out,
@@ -148,6 +150,7 @@ public:
    *   channel_option::Intensity, channel_option::Index,
    *   channel_option::Distance, channel_option::Timestamp.
    */
+  LASER_GEOMETRY_PUBLIC
   void transformLaserScanToPointCloud(
     const std::string & target_frame,
     const sensor_msgs::msg::LaserScan & scan_in,