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)

cross_compile/ros2/jazzy/ros_jazzy.Dockerfile

@@ -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

cross_compile/vendor/vendor_packages.Dockerfile

@@ -159,7 +159,6 @@ RUN pip download --no-deps -d /wheels \
     lark \
     pyyaml \
     catkin_pkg \
-    setuptools \
     packaging \
     pyparsing \
     argcomplete \