diff --git a/cross_compile/README.md b/cross_compile/README.md
index 6fd5a6c..a043672 100644
--- a/cross_compile/README.md
+++ b/cross_compile/README.md
@@ -9,6 +9,12 @@ PLATFORM=rk3588 docker compose build vendor-packages
 
 PLATFORM=rk3588 ROS_DISTRO=rolling docker compose build ros2
 
+PLATFORM=rk3576 docker compose build cc-toolchain
+
+PLATFORM=rk3576 docker compose build vendor-packages
+
+PLATFORM=rk3576 ROS_DISTRO=lyrical docker compose build ros2
+
 # debug
 DOCKER_BUILDKIT=0 PLATFORM=rk3588 ROS_DISTRO=jazzy docker compose build ros2
 ```
diff --git a/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile b/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
index 45acb43..57d38b5 100644
--- a/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
+++ b/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
@@ -32,7 +32,7 @@ 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=/opt/rk3576 colcon build \
+RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -47,7 +47,6 @@ RUN MAKEFLAGS="-j6" ROS_ROOT=/opt/rk3576 colcon build \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=ON \
     -DCV_BRIDGE_DISABLE_PYTHON=ON \
-    -DPython3_NumPy_INCLUDE_DI=/opt/rk3576/lib/python3.10/site-packages/numpy/core/include \
     -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
 
 # pybind11 python soabi issue