init commit

2026-02-11 17:54:06 +03:00
commit c15a3552ae
18 changed files with 1593 additions and 0 deletions
@@ -0,0 +1,38 @@
+FROM ubuntu:22.04 AS cc_base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y \
+    build-essential \
+    wget \
+    git \
+    python3 \
+    software-properties-common \
+    curl \
+    pkg-config \
+    vim \
+    && add-apt-repository universe \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt update && apt install -y \
+    python3-flake8-blind-except \
+    python3-flake8-class-newline \
+    python3-flake8-deprecated \
+    python3-mypy \
+    python3-pip \
+    python3-future \
+    python3-pytest \
+    python3-pytest-cov \
+    python3-pytest-mock \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    python3-pytest-runner \
+    python3-pytest-timeout \
+    python3-future \
+    python3-argcomplete \
+    autoconf automake libtool patchelf ninja-build python3.10-venv \
+    ros-dev-tools
@@ -0,0 +1,5 @@
+# Build Cross Compiled Develop Image
+
+```bash
+PLATFORM=rk3588 docker compose build
+```
@@ -0,0 +1,44 @@
+# 
+
+services:
+  # 第一步：编译基础镜像
+  cc-base:
+    build:
+      context: .
+      dockerfile: Dockerfile.cc_base
+    image: cc-base:latest
+
+  # 第二步：编译针对 RK3588 的镜像
+  cc-platform:
+    build:
+      context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹
+      dockerfile: ${PLATFORM}/Dockerfile.cc_${PLATFORM}
+      args:
+        - BASE_TAG=latest
+    image: cc-${PLATFORM}:latest
+    depends_on:
+      - cc-base
+
+  # 第三步：编译最终的供应商包镜像
+  vendor_packages:
+    build:
+      context: .
+      dockerfile: vendor_packages/Dockerfile.vendor_packages
+      args:
+        - BASE_IMAGE=cc-${PLATFORM}:latest
+    image: vendor-packages:${PLATFORM}
+    depends_on:
+      - cc-platform
+
+  ros2:
+    build:
+      context: .
+      dockerfile: ros2/Dockerfile.ros_${ROS_DISTRO}
+      args:
+        - ROS_DISTRO=rolling
+        - PLATFORM=${PLATFORM}
+        - CC_PLATFORM_IMAGE=cc-${PLATFORM}:latest
+        - VENDOR_PACKAGES=vendor-packages:${PLATFORM}
+    image: cc-ros-${ROS_DISTRO}:${PLATFORM}
+    depends_on:
+      - vendor_packages
@@ -0,0 +1,16 @@
+FROM cc-base:latest as cc_rk3588
+
+WORKDIR /opt
+COPY rk3588/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz /opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz
+RUN tar -zxf gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz \
+    && rm /opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu.tar.gz
+
+COPY rk3588/rk3588.toolchain.cmake /opt/cmake/
+
+ENV PATH="/opt/gcc-arm-11.2-2022.02-x86_64-aarch64-none-linux-gnu/bin:${PATH}"
+
+ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3588.toolchain.cmake
+
+ENV TARGET_SYSROOT=/opt/rk3588
+
+WORKDIR /root
@@ -0,0 +1,31 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+
+set(SYSROOT /opt/gcc-arm-11.2-2022.02-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}
+    ${CMAKE_INSTALL_PREFIX}
+)
+
+# Set compile flags which are overwritter by android.toolchain.cmake
+# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+
+# add_link_options("LINKER:-rpath-link,$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)
+
@@ -0,0 +1,20 @@
+ARG CC_PLATFORM_IMAGE
+ARG VENDOR_PACKAGES
+ARG PLATFORM
+
+FROM ${CC_PLATFORM_IMAGE} as ros_src
+
+ARG ROS_DISTRO
+
+WORKDIR /workspace
+RUN mkdir -p /workspace/src
+COPY ros2/ros_rolling.repos .
+RUN vcs import --input ros_${ROS_DISTRO}.repos src
+RUN echo "Build ros ${ROS_DISTRO}"
+
+FROM vendor-packages:${PLATFORM} AS vendor_images
+
+FROM ${CC_PLATFORM_IMAGE} as ros_builder
+
+COPY --from=ros_src /workspace /workspace
+COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
@@ -0,0 +1,417 @@
+repositories:
+  ament/ament_cmake:
+    type: git
+    url: https://github.com/ament/ament_cmake.git
+    version: rolling
+  ament/ament_index:
+    type: git
+    url: https://github.com/ament/ament_index.git
+    version: rolling
+  ament/ament_lint:
+    type: git
+    url: https://github.com/ament/ament_lint.git
+    version: rolling
+  ament/ament_package:
+    type: git
+    url: https://github.com/ament/ament_package.git
+    version: rolling
+  ament/google_benchmark_vendor:
+    type: git
+    url: https://github.com/ament/google_benchmark_vendor.git
+    version: rolling
+  ament/googletest:
+    type: git
+    url: https://github.com/ament/googletest.git
+    version: rolling
+  diagnostics:
+    type: git
+    url: https://github.com/ros/diagnostics.git
+    version: ros2
+  eProsima/Fast-CDR:
+    type: git
+    url: https://github.com/eProsima/Fast-CDR.git
+    version: 2.3.x
+  eProsima/Fast-DDS:
+    type: git
+    url: https://github.com/eProsima/Fast-DDS.git
+    version: 3.4.x
+  eProsima/foonathan_memory_vendor:
+    type: git
+    url: https://github.com/eProsima/foonathan_memory_vendor.git
+    version: master
+  ffmpeg_image_transport_msgs:
+    type: git
+    url: https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs.git
+    version: rolling
+  ros-perception/image_transport_plugins:
+    type: git
+    url: https://github.com/ros-perception/image_transport_plugins.git
+    version: rolling
+  osrf/osrf_pycommon:
+    type: git
+    url: https://github.com/osrf/osrf_pycommon.git
+    version: master
+  osrf/osrf_testing_tools_cpp:
+    type: git
+    url: https://github.com/osrf/osrf_testing_tools_cpp.git
+    version: rolling
+  ros-perception/pcl_msgs:
+    type: git
+    url: https://github.com/ros-perception/pcl_msgs.git
+    version: ros2
+  ros-perception/image_common:
+    type: git
+    url: https://github.com/ros-perception/image_common.git
+    version: rolling
+  ros-perception/laser_geometry:
+    type: git
+    url: https://github.com/ros-perception/laser_geometry.git
+    version: rolling
+  ros-perception/perception_pcl:
+    type: git
+    url: https://github.com/ros-perception/perception_pcl.git
+    version: ros2
+  ros-perception/point_cloud_transport:
+    type: git
+    url: https://github.com/ros-perception/point_cloud_transport.git
+    version: rolling
+  ros-planning/navigation_msgs:
+    type: git
+    url: https://github.com/ros-planning/navigation_msgs.git
+    version: rolling
+  ros-tooling/keyboard_handler:
+    type: git
+    url: https://github.com/ros-tooling/keyboard_handler.git
+    version: rolling
+  ros-tooling/libstatistics_collector:
+    type: git
+    url: https://github.com/ros-tooling/libstatistics_collector.git
+    version: rolling
+  ros-visualization/interactive_markers:
+    type: git
+    url: https://github.com/ros-visualization/interactive_markers.git
+    version: rolling
+  ros-visualization/python_qt_binding:
+    type: git
+    url: https://github.com/ros-visualization/python_qt_binding.git
+    version: rolling
+  ros-visualization/qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: rolling
+  ros-visualization/rqt:
+    type: git
+    url: https://github.com/ros-visualization/rqt.git
+    version: rolling
+  ros-visualization/rqt_action:
+    type: git
+    url: https://github.com/ros-visualization/rqt_action.git
+    version: rolling
+  ros-visualization/rqt_bag:
+    type: git
+    url: https://github.com/ros-visualization/rqt_bag.git
+    version: rolling
+  ros-visualization/rqt_console:
+    type: git
+    url: https://github.com/ros-visualization/rqt_console.git
+    version: rolling
+  ros-visualization/rqt_graph:
+    type: git
+    url: https://github.com/ros-visualization/rqt_graph.git
+    version: rolling
+  ros-visualization/rqt_msg:
+    type: git
+    url: https://github.com/ros-visualization/rqt_msg.git
+    version: rolling
+  ros-visualization/rqt_plot:
+    type: git
+    url: https://github.com/ros-visualization/rqt_plot.git
+    version: rolling
+  ros-visualization/rqt_publisher:
+    type: git
+    url: https://github.com/ros-visualization/rqt_publisher.git
+    version: rolling
+  ros-visualization/rqt_py_console:
+    type: git
+    url: https://github.com/ros-visualization/rqt_py_console.git
+    version: rolling
+  ros-visualization/rqt_reconfigure:
+    type: git
+    url: https://github.com/ros-visualization/rqt_reconfigure.git
+    version: rolling
+  ros-visualization/rqt_service_caller:
+    type: git
+    url: https://github.com/ros-visualization/rqt_service_caller.git
+    version: rolling
+  ros-visualization/rqt_shell:
+    type: git
+    url: https://github.com/ros-visualization/rqt_shell.git
+    version: rolling
+  ros-visualization/rqt_srv:
+    type: git
+    url: https://github.com/ros-visualization/rqt_srv.git
+    version: rolling
+  ros-visualization/rqt_topic:
+    type: git
+    url: https://github.com/ros-visualization/rqt_topic.git
+    version: rolling
+  ros-visualization/tango_icons_vendor:
+    type: git
+    url: https://github.com/ros-visualization/tango_icons_vendor.git
+    version: rolling
+  ros/class_loader:
+    type: git
+    url: https://github.com/ros/class_loader.git
+    version: rolling
+  ros/kdl_parser:
+    type: git
+    url: https://github.com/ros/kdl_parser.git
+    version: rolling
+  ros/pluginlib:
+    type: git
+    url: https://github.com/ros/pluginlib.git
+    version: rolling
+  ros/resource_retriever:
+    type: git
+    url: https://github.com/ros/resource_retriever.git
+    version: rolling
+  ros/robot_state_publisher:
+    type: git
+    url: https://github.com/ros/robot_state_publisher.git
+    version: rolling
+  ros/ros_environment:
+    type: git
+    url: https://github.com/ros/ros_environment.git
+    version: rolling
+  ros/ros_tutorials:
+    type: git
+    url: https://github.com/ros/ros_tutorials.git
+    version: rolling
+  ros/urdfdom:
+    type: git
+    url: https://github.com/ros/urdfdom.git
+    version: rolling
+  ros/urdfdom_headers:
+    type: git
+    url: https://github.com/ros/urdfdom_headers.git
+    version: rolling
+  ros/eigen_stl_containers:
+    type: git
+    url: https://github.com/ros/eigen_stl_containers.git
+    version: ros2
+  ros/angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  ros-geographic-info:
+    type: git
+    url: https://github.com/ros-geographic-info/geographic_info.git
+    version: ros2
+  ros2/ament_cmake_ros:
+    type: git
+    url: https://github.com/ros2/ament_cmake_ros.git
+    version: rolling
+  ros2/common_interfaces:
+    type: git
+    url: https://github.com/ros2/common_interfaces.git
+    version: rolling
+  ros2/demos:
+    type: git
+    url: https://github.com/ros2/demos.git
+    version: rolling
+  ros2/eigen3_cmake_module:
+    type: git
+    url: https://github.com/ros2/eigen3_cmake_module.git
+    version: rolling
+  ros2/example_interfaces:
+    type: git
+    url: https://github.com/ros2/example_interfaces.git
+    version: rolling
+  ros2/examples:
+    type: git
+    url: https://github.com/ros2/examples.git
+    version: rolling
+  ros2/geometry2:
+    type: git
+    url: https://github.com/ros2/geometry2.git
+    version: rolling
+  ros2/launch:
+    type: git
+    url: https://github.com/ros2/launch.git
+    version: rolling
+  ros2/launch_ros:
+    type: git
+    url: https://github.com/ros2/launch_ros.git
+    version: rolling
+  ros2/message_filters:
+    type: git
+    url: https://github.com/ros2/message_filters.git
+    version: rolling
+  ros2/performance_test_fixture:
+    type: git
+    url: https://github.com/ros2/performance_test_fixture.git
+    version: rolling
+  ros2/python_cmake_module:
+    type: git
+    url: https://github.com/ros2/python_cmake_module.git
+    version: rolling
+  ros2/rcl:
+    type: git
+    url: https://github.com/ros2/rcl.git
+    version: rolling
+  ros2/rcl_interfaces:
+    type: git
+    url: https://github.com/ros2/rcl_interfaces.git
+    version: rolling
+  ros2/rcl_logging:
+    type: git
+    url: https://github.com/ros2/rcl_logging.git
+    version: rolling
+  ros2/rclcpp:
+    type: git
+    url: https://github.com/ros2/rclcpp.git
+    version: rolling
+  ros2/rclpy:
+    type: git
+    url: https://github.com/ros2/rclpy.git
+    version: rolling
+  ros2/rcpputils:
+    type: git
+    url: https://github.com/ros2/rcpputils.git
+    version: rolling
+  ros2/rcutils:
+    type: git
+    url: https://github.com/ros2/rcutils.git
+    version: rolling
+  ros2/realtime_support:
+    type: git
+    url: https://github.com/ros2/realtime_support.git
+    version: rolling
+  ros2/rmw:
+    type: git
+    url: https://github.com/ros2/rmw.git
+    version: rolling
+  ros2/rmw_connextdds:
+    type: git
+    url: https://github.com/ros2/rmw_connextdds.git
+    version: rolling
+  ros2/rmw_cyclonedds:
+    type: git
+    url: https://github.com/ros2/rmw_cyclonedds.git
+    version: rolling
+  ros2/rmw_dds_common:
+    type: git
+    url: https://github.com/ros2/rmw_dds_common.git
+    version: rolling
+  ros2/rmw_fastrtps:
+    type: git
+    url: https://github.com/ros2/rmw_fastrtps.git
+    version: rolling
+  ros2/rmw_implementation:
+    type: git
+    url: https://github.com/ros2/rmw_implementation.git
+    version: rolling
+  ros2/ros2_tracing:
+    type: git
+    url: https://github.com/ros2/ros2_tracing.git
+    version: rolling
+  ros2/ros2cli:
+    type: git
+    url: https://github.com/ros2/ros2cli.git
+    version: rolling
+  ros2/ros2cli_common_extensions:
+    type: git
+    url: https://github.com/ros2/ros2cli_common_extensions.git
+    version: rolling
+  ros2/ros_testing:
+    type: git
+    url: https://github.com/ros2/ros_testing.git
+    version: rolling
+  ros2/rosbag2:
+    type: git
+    url: https://github.com/ros2/rosbag2.git
+    version: rolling
+  ros2/rosidl:
+    type: git
+    url: https://github.com/ros2/rosidl.git
+    version: rolling
+  ros2/rosidl_core:
+    type: git
+    url: https://github.com/ros2/rosidl_core.git
+    version: rolling
+  ros2/rosidl_dds:
+    type: git
+    url: https://github.com/ros2/rosidl_dds.git
+    version: rolling
+  ros2/rosidl_defaults:
+    type: git
+    url: https://github.com/ros2/rosidl_defaults.git
+    version: rolling
+  ros2/rosidl_dynamic_typesupport:
+    type: git
+    url: https://github.com/ros2/rosidl_dynamic_typesupport.git
+    version: rolling
+  ros2/rosidl_dynamic_typesupport_fastrtps:
+    type: git
+    url: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps.git
+    version: rolling
+  ros2/rosidl_python:
+    type: git
+    url: https://github.com/ros2/rosidl_python.git
+    version: rolling
+  ros2/rosidl_runtime_py:
+    type: git
+    url: https://github.com/ros2/rosidl_runtime_py.git
+    version: rolling
+  ros2/rosidl_typesupport:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport.git
+    version: rolling
+  ros2/rosidl_typesupport_fastrtps:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
+    version: rolling
+  ros2/rpyutils:
+    type: git
+    url: https://github.com/ros2/rpyutils.git
+    version: rolling
+  ros2/rviz:
+    type: git
+    url: https://github.com/ros2/rviz.git
+    version: rolling
+  ros2/sros2:
+    type: git
+    url: https://github.com/ros2/sros2.git
+    version: rolling
+  ros2/system_tests:
+    type: git
+    url: https://github.com/ros2/system_tests.git
+    version: rolling
+  ros2/test_interface_files:
+    type: git
+    url: https://github.com/ros2/test_interface_files.git
+    version: rolling
+  ros2/tlsf:
+    type: git
+    url: https://github.com/ros2/tlsf.git
+    version: rolling
+  ros2/unique_identifier_msgs:
+    type: git
+    url: https://github.com/ros2/unique_identifier_msgs.git
+    version: rolling
+  ros2/urdf:
+    type: git
+    url: https://github.com/ros2/urdf.git
+    version: rolling
+  variants:
+    type: git
+    url: https://github.com/ros2/variants.git
+    version: rolling
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  vision_opencv:
+    type: git
+    url: https://github.com/ros-perception/vision_opencv.git
+    version: rolling
@@ -0,0 +1,145 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE} as vendor_packages_src
+
+# RUN mkdir -p workspace/src
+# COPY vendor_packages workspace/src/
+
+RUN mkdir -p workspace/src \
+    && cd workspace/src \
+    && git clone https://github.com/EricX-Zhao/vendor_packages.git
+
+FROM vendor_packages_src as system_packages
+
+RUN cd workspace \
+    && colcon build \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to system_vendor_packages \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
+
+
+FROM vendor_packages_src as ceres_vendor
+
+RUN cd workspace \
+    && colcon build \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to ceres_vendor \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
+
+
+FROM vendor_packages_src as opencv_vendor
+
+RUN cd workspace \
+    && colcon build \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to opencv_vendor \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
+
+FROM ${BASE_IMAGE} AS boost
+
+WORKDIR /tmp
+
+RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
+
+RUN tar -zxf boost_1_83_0.tar.gz \
+    && cd boost_1_83_0 \
+    && ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
+    && sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \
+    && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
+
+FROM vendor_packages_src as pcl_vendor
+
+COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+RUN cd workspace \
+    && colcon build \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to pcl_vendor \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
+
+
+# OpenSSL
+FROM ${BASE_IMAGE} AS ssl_builder
+WORKDIR /tmp
+RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
+    && cd openssl-cmake \
+    && mkdir build \
+    && cd build \
+    && cmake .. \
+        -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+        -DCMAKE_INSTALL_PREFIX=${TARGET_SYSROOT} \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    && make -j$(($(nproc) / 2)) && make install \
+    && rm -rf /tmp
+
+# Python 3.12
+FROM ${BASE_IMAGE} AS python_builder
+
+WORKDIR /tmp
+
+COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+# COPY vendor_packages/Python-3.10.12.tar.xz .
+RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz && \
+RUN tar -xf Python-3.10.12.tar.xz && \
+    rm Python-3.10.12.tar.xz
+
+# 配置和编译 Python
+WORKDIR /tmp/Python-3.10.12
+ENV CC=aarch64-none-linux-gnu-gcc \
+    CXX=aarch64-none-linux-gnu-g++ \
+    AR=aarch64-none-linux-gnu-ar \
+    RANLIB=aarch64-none-linux-gnu-ranlib \
+    HOSTARCH=aarch64-none-linux-gnu \
+    BUILDARCH=x86_64-linux-gnu
+
+RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \
+    --host=aarch64-none-linux-gnu \
+    --build=x86_64-linux-gnu \
+    --prefix=${TARGET_SYSROOT} \
+    --with-build-python=python3.12 \
+    --disable-ipv6 \
+    --enable-optimizations \
+    --with-openssl=${TARGET_SYSROOT} \
+    ac_cv_file__dev_ptmx=yes \
+    ac_cv_file__dev_ptc=yes \
+    && make -j$(($(nproc) / 2)) && make install
+
+# https://github.com/benfogle/crossenv
+# cross compile python packages 
+WORKDIR /tmp
+RUN python3 -m pip install crossenv \
+    && python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
+    && . venv/bin/activate \
+    && pip -v install numpy==1.21.5 lark==1.1.1 packaging --prefix=${TARGET_SYSROOT}
+
+
+FROM ${BASE_IMAGE} as final
+
+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}