Add support for RK3576 platform and restructure vendor packages directory

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -13,12 +13,14 @@ RUN echo "Build ros ${ROS_DISTRO}"
 FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
 
 FROM ${CC_PLATFORM_IMAGE} AS ros_builder
-
 ARG ROS_DISTRO
+ARG ROS_ROOT
+ENV ROS_ROOT=${ROS_ROOT}
+
 WORKDIR /workspace
 COPY --from=ros_src /workspace /workspace
-COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY ros2/ros_cpp /workspace/src/ros_cpp
 
 # apply patch
@@ -30,7 +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" colcon build \
+RUN MAKEFLAGS="-j6" ROS_ROOT=/opt/rk3576 colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -44,7 +46,9 @@ RUN MAKEFLAGS="-j6" colcon build \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=ON \
-    -DCV_BRIDGE_DISABLE_PYTHON=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
 WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
@@ -62,7 +66,8 @@ WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosidl_buffer
 RUN mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-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}
 
 # rust install 
@@ -102,4 +107,5 @@ FROM ${CC_PLATFORM_IMAGE} AS final
 ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
-WORKDIR /opt
+ENV TARGET_SYSROOT=${ROS_ROOT}
+WORKDIR /workspace