build both the ROS2 package and a plain CMake configuration

[zeerekahmad]

PR: build both the ROS2 package and a plain CMake configuration

• branch: zeerekahmad/kinematics-dual-build
• base: zeerekahmad/kinematics-projectors
• commit: cac4573

Description

One CMakeLists.txt now serves both colcon and the wheel build. find_package(ament_cmake QUIET) selects the
branch: under ament the library stays SHARED and is exported to downstream packages; without it the library is
STATIC and position-independent, so the pybind11 module is self-contained and a wheel ships a single .so.

• Install, export and ament_package() calls move under the ament guard; the wheel path installs the
  extension at the root.
• Drops the pybind11_vendor lookup for a direct pybind11 CONFIG lookup (vendor is a ROS2 package and is
  unavailable off-distro), the LINK_OPTIONS "" workaround, and the -Wl,-no-undefined link option that the
  static/pybind combination cannot satisfy.
• cmake_minimum_required rises to 3.15 to match what scikit-build-core requires.
• package.xml promotes pybind11_vendor to a full depend, adds python3-numpy and ament_cmake_test, and
  refreshes the description and maintainer.
• CI gains a standalone_cmake job so the non-ament path is actually exercised;
  CMAKE_DISABLE_FIND_PACKAGE_ament_cmake forces that branch even on a ROS2 runner.

Migration Guide

No API change for consumers. Downstream ROS 2 packages keep linking the same exported SHARED target; only the
non-ament configuration is new.

Related issues

Completeness checklist

• Is there test coverage? If it was a bugfix, is there a regression test?
• Is user-facing API/behavior documented?
• Is core documentation updated?
• Are all checks green?
• Assign reviewers to the PR and post in #code_reviews

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