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Switch RK3576 toolchain to Buildroot SDK and migrate to Python 3.11

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This commit is contained in:
EricX-Zhao
2026-07-10 17:08:18 +03:00
parent 877c9c329d
commit 39f628605f
6 changed files with 68 additions and 51 deletions
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cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
+19 -17
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@@ -23,6 +23,9 @@ COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY ros2/${ROS_DISTRO}/patch /workspace/patch
COPY ros2/ros_cpp /workspace/src/ros_cpp
# COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
# RUN python3.11 -m pip install lark
# apply patch
RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
@@ -32,7 +35,7 @@ RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
&& touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
# -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} colcon build \
RUN MAKEFLAGS="-j6" colcon build \
--executor parallel \
--parallel-workers 6 \
--install-base ${TARGET_SYSROOT} \
@@ -46,23 +49,22 @@ RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} colcon build \
-DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-DBUILD_TESTING=OFF \
-DTRACETOOLS_DISABLED=ON \
-DCV_BRIDGE_DISABLE_PYTHON=ON \
-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
-DCV_BRIDGE_DISABLE_PYTHON=ON
# pybind11 python soabi issue
WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
RUN mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosbag2_py
RUN mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so
RUN mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so
RUN mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so
RUN mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so
RUN mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so
RUN mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so
RUN mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so
RUN mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosidl_buffer
RUN mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rclpy \
mv _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so _rclpy_pybind11.cpython-311-aarch64-linux-gnu.so
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosbag2_py \
&& mv _transport.cpython-311-x86_64-linux-gnu.so _transport.cpython-311-aarch64-linux-gnu.so \
&& mv _info.cpython-311-x86_64-linux-gnu.so _info.cpython-311-aarch64-linux-gnu.so \
&& mv _compression_options.cpython-311-x86_64-linux-gnu.so _compression_options.cpython-311-aarch64-linux-gnu.so \
&& mv _storage.cpython-311-x86_64-linux-gnu.so _storage.cpython-311-aarch64-linux-gnu.so \
&& mv _reindexer.cpython-311-x86_64-linux-gnu.so _reindexer.cpython-311-aarch64-linux-gnu.so \
&& mv _writer.cpython-311-x86_64-linux-gnu.so _writer.cpython-311-aarch64-linux-gnu.so \
&& mv _message_definitions.cpython-311-x86_64-linux-gnu.so _message_definitions.cpython-311-aarch64-linux-gnu.so \
&& mv _reader.cpython-311-x86_64-linux-gnu.so _reader.cpython-311-aarch64-linux-gnu.so
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosidl_buffer \
&& mv _rosidl_buffer_py.cpython-311-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-311-aarch64-linux-gnu.so
FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
ARG ROS_ROOT
@@ -80,7 +82,7 @@ RUN mkdir rmw_zenoh_ws/src -p \
&& cd rmw_zenoh_ws/src \
&& git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc
RUN . "$HOME/.cargo/env" \
&& . ${TARGET_SYSROOT}/local_setup.sh \