Switch RK3576 toolchain to Buildroot SDK and migrate to Python 3.11

cross_compile/vendor/vendor_packages.Dockerfile

@@ -13,6 +13,8 @@ RUN cd workspace \
     --cmake-args \
     --no-warn-unused-cli \
     -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_FLAGS="-Wno-error" \
+    -DCMAKE_CXX_FLAGS="-Wno-error" \
     -DBUILD_TESTING=OFF \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
@@ -61,7 +63,7 @@ RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
 RUN tar -zxf boost_1_83_0.tar.gz \
     && cd boost_1_83_0 \
     && ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
-    && sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \
+    && sed -i "/using gcc/c using gcc : arm64 : aarch64-buildroot-linux-gnu-gcc ;" project-config.jam \
     && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
 
 FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
@@ -74,7 +76,7 @@ COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor
 COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
 RUN cd workspace \
-    && colcon build \
+    && MAKEFLAGS="-j6" colcon build \
     --install-base ${TARGET_SYSROOT} \
     --merge-install \
     --packages-up-to pcl_vendor \
@@ -84,7 +86,6 @@ RUN cd workspace \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
-
 # OpenSSL
 FROM ${CC_PLATFORM_IMAGE} AS ssl_builder
 WORKDIR /tmp
@@ -152,6 +153,8 @@ RUN ./configure \
 
 # https://github.com/benfogle/crossenv
 # cross compile python packages 
+FROM ${CC_PLATFORM_IMAGE} AS python_pkg_builder
+
 WORKDIR /tmp
 
 COPY vendor/extract_wheels.sh /tmp/extract_wheels.sh
@@ -174,15 +177,15 @@ RUN pip download --no-deps -d /wheels \
 RUN pip download \
     --no-deps \
     --only-binary=:all: \
-    --python-version 310 \
+    --python-version 311 \
     --implementation cp \
     --abi cp310 \
     --platform manylinux2014_aarch64 \
     -d /wheels \
-    psutil numpy==1.21.5
+    psutil
 
 RUN chmod +x /tmp/extract_wheels.sh && \
-    /tmp/extract_wheels.sh "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels
+    /tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /wheels
 
 FROM ${CC_PLATFORM_IMAGE} AS final
 
@@ -190,4 +193,4 @@ COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
-COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=python_pkg_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}