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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

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EricX-Zhao
2026-07-15 14:49:06 +03:00
parent 12b7f933ed
commit 52408fef71
4 changed files with 42 additions and 20 deletions
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cross_compile/ros2/jazzy/ros_jazzy.Dockerfile
+27 -17
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@@ -23,11 +23,12 @@ COPY ros2/ros_cpp /workspace/src/ros_cpp
RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
&& touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
&& touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
&& touch src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/COLCON_IGNORE
&& touch src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/COLCON_IGNORE \
&& touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
RUN MAKEFLAGS="-j6" colcon build \
RUN colcon build \
--executor parallel \
--parallel-workers 6 \
--parallel-workers 4 \
--install-base ${TARGET_SYSROOT} \
--merge-install \
--packages-up-to ros_cpp \
@@ -41,19 +42,6 @@ RUN MAKEFLAGS="-j6" colcon build \
-DTRACETOOLS_DISABLED=ON \
-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
FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
@@ -69,7 +57,14 @@ RUN mkdir rmw_zenoh_ws/src -p \
&& cd rmw_zenoh_ws/src \
&& git clone --depth=1 -b jazzy https://github.com/ros2/rmw_zenoh.git
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
# --- 给 cargo/cc-rs 补上明确的区分 ---
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc \
CC_aarch64_unknown_linux_gnu=aarch64-none-linux-gnu-gcc \
CXX_aarch64_unknown_linux_gnu=aarch64-none-linux-gnu-g++ \
AR_aarch64_unknown_linux_gnu=aarch64-none-linux-gnu-ar \
HOST_CC=gcc \
HOST_CXX=g++ \
HOST_AR=ar
RUN . "$HOME/.cargo/env" \
&& . ${TARGET_SYSROOT}/local_setup.sh \
@@ -95,4 +90,19 @@ FROM ${CC_PLATFORM_IMAGE} AS final
ARG ROS_ROOT
ENV ROS_ROOT=${ROS_ROOT}
COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
ENV TARGET_SYSROOT=${ROS_ROOT}
# pybind11 python soabi issue
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rclpy \
&& mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosbag2_py \
&& mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so \
&& mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so \
&& mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so \
&& mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so \
&& mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so \
&& mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so \
&& mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so \
&& mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
WORKDIR /opt