Merge branch '2-adapt-to-core-cmake-refactor' of...

Merge branch '2-adapt-to-core-cmake-refactor' of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu into 2-adapt-to-core-cmake-refactor

CMakeLists.txt

@@ -2,7 +2,9 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 project(wolf_ros_imu)
 
 ## Compile as C++14
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++14) 
+# -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
+SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)