From ac9963449d3b4baa2b454bab324a6662af35b217 Mon Sep 17 00:00:00 2001
From: EricX-Zhao <ericzhao0325@163.com>
Date: Fri, 26 Jun 2026 18:00:45 +0300
Subject: [PATCH] Add support for rk3576 platform: update input options and add
 toolchain files

---
 .github/workflows/build-images.yaml         |  4 +--
 cross_compile/rk3576/cc_rk3576.Dockerfile   | 17 +++++++++++
 cross_compile/rk3576/rk3576.toolchain.cmake | 32 +++++++++++++++++++++
 3 files changed, 51 insertions(+), 2 deletions(-)
 create mode 100644 cross_compile/rk3576/cc_rk3576.Dockerfile
 create mode 100644 cross_compile/rk3576/rk3576.toolchain.cmake

diff --git a/.github/workflows/build-images.yaml b/.github/workflows/build-images.yaml
index a07233a..2934ebe 100644
--- a/.github/workflows/build-images.yaml
+++ b/.github/workflows/build-images.yaml
@@ -10,8 +10,8 @@ on:
         description: "Target platform"
         required: true
         type: choice
-        options: [rk3588]
-        default: rk3588
+        options: [rk3588, rk3576]
+        default: rk3576
       ros_distro:
         description: "ROS 2 distribution"
         required: true
diff --git a/cross_compile/rk3576/cc_rk3576.Dockerfile b/cross_compile/rk3576/cc_rk3576.Dockerfile
new file mode 100644
index 0000000..6fdd461
--- /dev/null
+++ b/cross_compile/rk3576/cc_rk3576.Dockerfile
@@ -0,0 +1,17 @@
+FROM cc-base:latest AS cc_rk3576
+
+WORKDIR /opt
+
+RUN wget https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-aarch64-none-linux-gnu.tar.xz \
+    && tar -xJf arm-gnu-toolchain-13.2.rel1-x86_64-aarch64-none-linux-gnu.tar.xz \
+    && rm /opt/arm-gnu-toolchain-13.2.rel1-x86_64-aarch64-none-linux-gnu.tar.xz
+
+COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
+
+ENV PATH="/opt/arm-gnu-toolchain-13.2.Rel1-x86_64-aarch64-none-linux-gnu/bin:${PATH}"
+
+ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
+
+ENV TARGET_SYSROOT=/opt/rk3576
+
+WORKDIR /root
diff --git a/cross_compile/rk3576/rk3576.toolchain.cmake b/cross_compile/rk3576/rk3576.toolchain.cmake
new file mode 100644
index 0000000..da43b00
--- /dev/null
+++ b/cross_compile/rk3576/rk3576.toolchain.cmake
@@ -0,0 +1,32 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+
+set(SYSROOT /opt/arm-gnu-toolchain-13.2.Rel1-x86_64-aarch64-none-linux-gnu)
+
+set(CMAKE_SYSROOT 
+    ${SYSROOT}/aarch64-none-linux-gnu/libc
+)
+    
+set(CMAKE_C_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-g++)
+
+list(APPEND CMAKE_FIND_ROOT_PATH 
+    $ENV{TARGET_SYSROOT}
+    $ENV{ROS_ROOT}
+    ${CMAKE_INSTALL_PREFIX}
+)
+
+# Set compile flags which are overwritter by android.toolchain.cmake
+# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+
+# add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
+
+set(Python3_EXECUTABLE /usr/bin/python3)
+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)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+