Prep v1.2.1: BUILD_SHARED_LIBS support + Rolling CI fix (#106)

* build(cloudini_lib): honor BUILD_SHARED_LIBS for standalone builds

Outside ament/ROS, the library was hardcoded to STATIC, which prevented
package managers (Conan, vcpkg) and downstream CMake projects from
producing a shared libcloudini_lib.so by setting -DBUILD_SHARED_LIBS=ON.

Dropping the explicit STATIC keyword lets CMake's standard
BUILD_SHARED_LIBS variable decide. Default behavior is unchanged
(static when BUILD_SHARED_LIBS is unset or OFF). The ament branch
still forces SHARED for pluginlib compatibility.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* ci(rolling): build point_cloud_interfaces from source

ros-rolling-point-cloud-interfaces was dropped from the apt sync circa
2026-04-25, breaking the Rolling job that depends on the
CompressedPointCloud2 message type. Restore the build by importing the
package from ros-perception/point_cloud_transport_plugins via vcstool.

Also drop `continue-on-error: true` now that the underlying cause is
addressed -- Rolling failures will once again gate the branch.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* ci(rolling): checkout sources before vcs import

The .repos file path passed to action-ros-ci.vcs-repo-file-url resolves
against ${{ github.workspace }}, but action-ros-ci checks the repo out
to its own ros_ws/src/ directory (not to the workspace root), so the
file was missing when vcs import ran. Add an explicit actions/checkout
step before action-ros-ci so the path resolves.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Davide Faconti <dfaconti@aurynrobotics.com>
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

Author: 3 people

.github/workflows/rolling.repos

@@ -0,0 +1,5 @@
+repositories:
+  point_cloud_transport_plugins:
+    type: git
+    url: https://github.com/ros-perception/point_cloud_transport_plugins.git
+    version: rolling

.github/workflows/ros-rolling.yaml

@@ -14,13 +14,14 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-    # Rolling is allowed to fail: ros-rolling-point-cloud-interfaces was dropped
-    # from the apt sync circa 2026-04-25 (last green Rolling on main: 2026-04-20).
-    # Remove this once upstream restores the package or we migrate off it.
-    continue-on-error: true
     container:
       image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     steps:
+      # action-ros-ci checks the repo out to its own ros_ws/src, not to
+      # ${{ github.workspace }}. Do an explicit checkout first so the
+      # .repos file passed to vcs-repo-file-url below is reachable.
+      - uses: actions/checkout@v4
+
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: rolling
@@ -33,12 +34,15 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y --only-upgrade $(dpkg -l 'ros-rolling-*' | awk '/^ii/{print $2}' | tr '\n' ' ')
 
+      # point_cloud_interfaces was dropped from the Rolling apt sync circa 2026-04-25.
+      # Build it from source via vcstool until it reappears in the binary repo.
       - uses: ros-tooling/action-ros-ci@v0.4
         with:
           package-name: |
             cloudini_lib
             cloudini_ros
           target-ros2-distro: rolling
+          vcs-repo-file-url: ${{ github.workspace }}/.github/workflows/rolling.repos
           colcon-defaults: |
             {
               "build": {

cloudini_lib/CMakeLists.txt

@@ -83,12 +83,14 @@ SET(CLOUDINI_SRC
 )
 
 if(ament_cmake_FOUND)
+  # ROS/ament always builds shared so the plugin pluginlib can dlopen it.
   add_library(cloudini_lib SHARED
     ${CLOUDINI_SRC}
     ${PCL_SRC}
   )
 else()
-  add_library(cloudini_lib STATIC
+  # Standalone builds honor BUILD_SHARED_LIBS (static by default).
+  add_library(cloudini_lib
     ${CLOUDINI_SRC}
     ${PCL_SRC}
   )