修复交叉编译配置：优化工具链环境变量、修复pybind11 SOABI、调整并行编译参数

cross_compile/rk3588/cc_rk3588.Dockerfile

@@ -18,4 +18,17 @@ ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3588.toolchain.cmake
 
 ENV TARGET_SYSROOT=/opt/rk3588
 
+ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.10/site-packages
+
+ENV CC=aarch64-none-linux-gnu-gcc \
+    CXX=aarch64-none-linux-gnu-g++ \
+    AR=aarch64-none-linux-gnu-ar \
+    RANLIB=aarch64-none-linux-gnu-ranlib \
+    HOSTARCH=aarch64-none-linux-gnu \
+    BUILDARCH=x86_64-linux-gnu
+
+ARG BUILD_JOBS=6
+
+ENV MAKEFLAGS="-j${BUILD_JOBS}"
+
 WORKDIR /root

cross_compile/rk3588/rk3588.toolchain.cmake

@@ -20,10 +20,10 @@ list(APPEND CMAKE_FIND_ROOT_PATH
 # set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
 # set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
 
-# add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
+add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
 
 set(Python3_EXECUTABLE /usr/bin/python3)
-set(Python3_NumPy_INCLUDE_DIR $ENV{ROS_ROOT}/lib/python3.10/site-packages/numpy/core/include)
+set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)