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Switch RK3576 toolchain to Buildroot SDK and migrate to Python 3.10

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This commit is contained in:
EricX-Zhao
2026-07-11 20:29:12 +03:00
parent 39f628605f
commit 8868ca2a35
5 changed files with 47 additions and 42 deletions
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cross_compile/cc_base.Dockerfile
+1 -1
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@@ -35,5 +35,5 @@ RUN apt update && apt install -y \
python3-future \
python3-lark \
python3-argcomplete \
autoconf automake libtool patchelf ninja-build python3.10-venv python3.11 python3.11-dev \
autoconf automake libtool patchelf ninja-build python3.10-venv \
ros-dev-tools
cross_compile/rk3576/cc_rk3576.Dockerfile
+8 -8
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@@ -10,20 +10,20 @@ COPY rk3576/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz /opt/
RUN tar -zxf aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz \
&& rm /opt/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz
# use python3.11
RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1 \
&& update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 2 \
&& update-alternatives --set python3 /usr/bin/python3.11 \
&& rm -f /usr/bin/python3-config \
&& ln -s /usr/bin/python3.11-config /usr/bin/python3-config
COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
ENV TARGET_SYSROOT=/opt/rk3576
ENV PATH="${PATH}:/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/bin"
ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.11/site-packages
ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.10/site-packages
ENV CC=aarch64-buildroot-linux-gnu-gcc \
CXX=aarch64-buildroot-linux-gnu-g++ \
AR=aarch64-buildroot-linux-gnu-ar \
RANLIB=aarch64-buildroot-linux-gnu-ranlib \
HOSTARCH=aarch64-buildroot-linux-gnu \
BUILDARCH=x86_64-linux-gnu
ARG BUILD_JOBS=6
ENV MAKEFLAGS="-j${BUILD_JOBS}"
cross_compile/rk3576/rk3576.toolchain.cmake
+5 -4
View File
@@ -15,10 +15,10 @@ add_link_options($<$<CONFIG:Release>:-s>)
add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
# use buildroot sdk python3.11
set(Python3_EXECUTABLE /usr/bin/python3.11)
set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
set(Python3_NumPy_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/lib/python3.11/site-packages/numpy/core/include)
set(Python3_EXECUTABLE /usr/bin/python3.10)
# set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
# set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
# use cross compile packages
set(LZ4_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
@@ -27,3 +27,4 @@ set(flann_DIR $ENV{TARGET_SYSROOT}/lib/cmake/flann)
set(FLANN_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
set(FLANN_LIBRARY $ENV{TARGET_SYSROOT}/lib/libflann.so)
set(yaml-cpp_DIR $ENV{TARGET_SYSROOT}/lib/cmake/yaml-cpp)
set(OpenCV_DIR $ENV{TARGET_SYSROOT}/lib/cmake/opencv4)
cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
+27 -18
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@@ -23,8 +23,7 @@ COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY ros2/${ROS_DISTRO}/patch /workspace/patch
COPY ros2/ros_cpp /workspace/src/ros_cpp
# COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
# RUN python3.11 -m pip install lark
COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
# apply patch
RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
@@ -51,26 +50,13 @@ RUN MAKEFLAGS="-j6" colcon build \
-DTRACETOOLS_DISABLED=ON \
-DCV_BRIDGE_DISABLE_PYTHON=ON
# pybind11 python soabi issue
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rclpy \
mv _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so _rclpy_pybind11.cpython-311-aarch64-linux-gnu.so
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosbag2_py \
&& mv _transport.cpython-311-x86_64-linux-gnu.so _transport.cpython-311-aarch64-linux-gnu.so \
&& mv _info.cpython-311-x86_64-linux-gnu.so _info.cpython-311-aarch64-linux-gnu.so \
&& mv _compression_options.cpython-311-x86_64-linux-gnu.so _compression_options.cpython-311-aarch64-linux-gnu.so \
&& mv _storage.cpython-311-x86_64-linux-gnu.so _storage.cpython-311-aarch64-linux-gnu.so \
&& mv _reindexer.cpython-311-x86_64-linux-gnu.so _reindexer.cpython-311-aarch64-linux-gnu.so \
&& mv _writer.cpython-311-x86_64-linux-gnu.so _writer.cpython-311-aarch64-linux-gnu.so \
&& mv _message_definitions.cpython-311-x86_64-linux-gnu.so _message_definitions.cpython-311-aarch64-linux-gnu.so \
&& mv _reader.cpython-311-x86_64-linux-gnu.so _reader.cpython-311-aarch64-linux-gnu.so
RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosidl_buffer \
&& mv _rosidl_buffer_py.cpython-311-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-311-aarch64-linux-gnu.so
FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
ARG ROS_ROOT
ENV ROS_ROOT=${ROS_ROOT}
COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
RUN python3.10 -m pip install numpy==1.21.5
# rust install
RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
RUN . "$HOME/.cargo/env" \
@@ -82,7 +68,14 @@ RUN mkdir rmw_zenoh_ws/src -p \
&& cd rmw_zenoh_ws/src \
&& git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc
# --- 给 cargo/cc-rs 补上明确的区分 ---
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc \
CC_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-gcc \
CXX_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-g++ \
AR_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-ar \
HOST_CC=gcc \
HOST_CXX=g++ \
HOST_AR=ar
RUN . "$HOME/.cargo/env" \
&& . ${TARGET_SYSROOT}/local_setup.sh \
@@ -109,4 +102,20 @@ ARG ROS_ROOT
ENV ROS_ROOT=${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
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosidl_buffer \
&& mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so
WORKDIR /workspace
cross_compile/vendor/vendor_packages.Dockerfile
Vendored
+6 -11
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@@ -63,7 +63,7 @@ RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
RUN tar -zxf boost_1_83_0.tar.gz \
&& cd boost_1_83_0 \
&& ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
&& sed -i "/using gcc/c using gcc : arm64 : aarch64-buildroot-linux-gnu-gcc ;" project-config.jam \
&& sed -i "/using gcc/c using gcc : arm64 : ${CC} ;" project-config.jam \
&& ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
@@ -106,7 +106,7 @@ FROM ${CC_PLATFORM_IMAGE} AS ffi_builder
RUN git clone --depth=1 https://github.com/libffi/libffi.git \
&& cd libffi \
&& ./autogen.sh \
&& ./configure --host=aarch64-none-linux-gnu --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
&& ./configure --host=${HOSTARCH} --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
&& make -j$(nproc) && make install
# Python 3.12
@@ -125,12 +125,6 @@ RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz \
# 配置和编译 Python
WORKDIR /tmp/Python-3.10.12
ENV CC=aarch64-none-linux-gnu-gcc \
CXX=aarch64-none-linux-gnu-g++ \
AR=aarch64-none-linux-gnu-ar \
RANLIB=aarch64-none-linux-gnu-ranlib \
HOSTARCH=aarch64-none-linux-gnu \
BUILDARCH=x86_64-linux-gnu
ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
@@ -140,7 +134,7 @@ ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"
RUN ./configure \
--host=aarch64-none-linux-gnu \
--host=${HOSTARCH} \
--build=x86_64-linux-gnu \
--prefix=${TARGET_SYSROOT} \
--disable-ipv6 \
@@ -177,12 +171,12 @@ RUN pip download --no-deps -d /wheels \
RUN pip download \
--no-deps \
--only-binary=:all: \
--python-version 311 \
--python-version 310 \
--implementation cp \
--abi cp310 \
--platform manylinux2014_aarch64 \
-d /wheels \
psutil
psutil numpy==1.21.5
RUN chmod +x /tmp/extract_wheels.sh && \
/tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /wheels
@@ -193,4 +187,5 @@ 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}