build a wheel with scikit-build-core and drop setuptools

[zeerekahmad]

PR: build a wheel with scikit-build-core and drop setuptools

• branch: zeerekahmad/kinematics-wheel-packaging
• base: zeerekahmad/kinematics-python-bindings
• commit: a15a578

Description

setuptools cannot build the pybind11 extension, so the wheel is built by scikit-build-core driving the same
CMakeLists.txt the ROS2 build uses.

• cmake.args pins BUILD_TESTING=OFF (the C++ tests are built out-of-band) and forces the non-ament branch,
  which matters on a machine that happens to have /opt/ros installed: the ROS2 branch would otherwise be
  selected and then fail on build-env deps like catkin_pkg.
• Deletes setup.cfg, whose only job was relocating setuptools' script_dir for the ament install layout,
  and the setuptools build backend along with it.
• Declares the runtime numpy dependency, an [explorer] extra and a [dev] extra, the kinematic-explorer
  console script, and a dependency-group that defers to the extras so the pins live in one place.
• Adds uv.lock, and with it the pyproject version bump the lock records.
• CI gains a wheel job, since until now the pytest suite only ran under colcon.

Migration Guide

For anyone installing the Python package outside ROS 2:

1. Build/install with a PEP 517 frontend (uv pip install -e . or pip install .) — the removed
   setup.cfg/setuptools backend means python setup.py invocations no longer work.
2. A C++ toolchain and CMake ≥ 3.15 are now required at install time, since the extension is compiled.

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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