Add support for RK3576 platform and restructure vendor packages directory

build.sh

@@ -7,6 +7,7 @@ set -x
 # ./build.sh -t RK3588 -p "depthai_examples vins_estimator" -b Release 
 # ./build.sh -t RK3588 -p "svo_ros" -b Release 
 # ./build.sh -t DESKTOP -p "ov_core ov_init ov_msckf" -b RelWithDebInfo -l 1
+# ./build.sh -t RK3576 -p "mavros mavros_extras" -b Release
 
 # export WORKSPACE="$(dirname "$(realpath "$BASH_SOURCE")")"
 # export WORKSPACE="$(realpath "$BASH_SOURCE")"
@@ -83,6 +84,13 @@ if [[ "${TARGET_PLATFORM}" = "RK3588" ]]; then
     export ARM_ARCHITECTURE=arm64
 fi
 
+if [[ "${TARGET_PLATFORM}" = "RK3576" ]]; then
+    # in rk3588_dev container
+    TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
+    CMAKE_ARGS+=" -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE}"
+    export ARM_ARCHITECTURE=arm64
+fi
+
 export TARGET=${TARGET_PLATFORM}
 
 INSTALL_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/install