Update pybind11 to version 2.12.0

Currently used branch was not interoperable with a standard version of pybind11.

.pre-commit-config.yaml

@@ -46,7 +46,7 @@ repos:
       - id: catkin_lint
         name: catkin_lint
         description: Check package.xml and cmake files
-        entry: catkin_lint .
+        entry: catkin_lint . --ignore duplicate_cmd
         language: system
         always_run: true
         pass_filenames: false

core/python/bindings/src/core.cpp

@@ -80,7 +80,9 @@ void setForwardedProperties(Stage& self, const py::object& names) {
 
 void export_core(pybind11::module& m) {
 	/// translate InitStageException into InitStageError
-	static py::exception<InitStageException> init_stage_error(m, "InitStageError");
+	PYBIND11_CONSTINIT static py::gil_safe_call_once_and_store<py::object> exc_storage;
+	exc_storage.call_once_and_store_result([&]() { return py::exception<InitStageException>(m, "InitStageError"); });
+
 	/// provide extended error description for InitStageException
 	py::register_exception_translator([](std::exception_ptr p) {  // NOLINT(performance-unnecessary-value-param)
 		try {
@@ -89,7 +91,7 @@ void export_core(pybind11::module& m) {
 		} catch (const InitStageException& e) {
 			std::stringstream message;
 			message << e;
-			init_stage_error(message.str().c_str());
+			py::set_error(exc_storage.get_stored(), message.str().c_str());
 		}
 	});