ros-galactic-rclpy.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1481e6a..a2b19a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,8 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
+set(CMAKE_XCODE_ATTRIBUTE_OTHER_CODE_SIGN_FLAGS "-o linker-signed")
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rcl REQUIRED)
@@ -25,27 +27,9 @@ find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 
-# Find python before pybind11
-find_package(python_cmake_module REQUIRED)
-find_package(PythonExtra REQUIRED)
-
-set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # Set the python debug interpreter.
-  # pybind11 will setup the build for debug now.
-  set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
-endif()
-
-find_package(pybind11_vendor REQUIRED)
+find_package(Python COMPONENTS Interpreter Development)
 find_package(pybind11 REQUIRED)
 
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # pybind11 logic for setting up a debug build when both a debug and release
-  # python interpreter are present in the system seems to be pretty much broken.
-  # This works around the issue.
-  set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
-endif()
-
 function(clean_windows_flags target)
   # Hack to avoid pybind11 issue.
   #
@@ -109,11 +93,13 @@ endif()
 
 # Set the build location and install location for a CPython extension
 function(configure_build_install_location _library_name)
-  # Install into test_rclpy folder in build space for unit tests to import
-  set_target_properties(${_library_name} PROPERTIES
-    # Use generator expression to avoid prepending a build type specific directory on Windows
-    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test_rclpy>
-    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test_rclpy>)
+  if(NOT $ENV{CONDA_BUILD_CROSS_COMPILATION} STREQUAL "1")
+    # Install into test_rclpy folder in build space for unit tests to import
+    set_target_properties(${_library_name} PROPERTIES
+      # Use generator expression to avoid prepending a build type specific directory on Windows
+      LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test_rclpy>
+      RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test_rclpy>)
+  endif()
 
   # Install library for actual use
   install(TARGETS ${_library_name}
@@ -128,10 +114,17 @@ 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 +140,7 @@ install(TARGETS rclpy_common
 )
 
 # Split from main extension and converted to pybind11
-pybind11_add_module(_rclpy_pybind11 SHARED
+add_library(_rclpy_pybind11 MODULE
   src/rclpy/_rclpy_handle.cpp
   src/rclpy/_rclpy_logging.cpp
   src/rclpy/_rclpy_pybind11.cpp
@@ -178,6 +171,10 @@ 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/
 )
@@ -188,18 +185,24 @@ 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)
 
 # Signal handling library
-pybind11_add_module(_rclpy_signal_handler SHARED
+add_library(_rclpy_signal_handler MODULE
   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
   rcutils::rcutils
+  pybind11::module
 )
 configure_build_install_location(_rclpy_signal_handler)
 clean_windows_flags(_rclpy_signal_handler)
@@ -301,6 +304,5 @@ if(BUILD_TESTING)
     endforeach()
   endif()
 endif()
-set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
 
 ament_package()