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Hide symbols from shared libraries by default and support DLL creation #927

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Run time

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Job	Run time
ros (humble)	1m 4s
cmake (humble, debug, gcc)	1m 35s
ros (rolling)	1m 4s
cmake (humble, debug, clang)	2m 8s
cmake (humble, release, gcc)	1m 36s
cmake (humble, release, clang)	2m 15s
cmake (humble, asan, gcc)	1m 30s
cmake (humble, asan, clang)	1m 56s
cmake (humble, codecov, gcc)	1m 49s
cmake (rolling, debug, gcc)	1m 29s
cmake (rolling, debug, clang)	2m 6s
cmake (rolling, release, gcc)	2m 5s
cmake (rolling, release, clang)	1m 39s
cmake (rolling, asan, gcc)	1m 38s
cmake (rolling, asan, clang)	2m 3s
cmake (rolling, codecov, gcc)	1m 50s
	27m 47s