diff --git a/cross_compile/README.md b/cross_compile/README.md
index 138d22d..6fd5a6c 100644
--- a/cross_compile/README.md
+++ b/cross_compile/README.md
@@ -1,5 +1,14 @@
 # Build Cross Compiled Develop Image
 
 ```bash
-PLATFORM=rk3588 docker compose build
+docker compose build cc-base
+
+PLATFORM=rk3588 docker compose build cc-toolchain
+
+PLATFORM=rk3588 docker compose build vendor-packages
+
+PLATFORM=rk3588 ROS_DISTRO=rolling docker compose build ros2
+
+# debug
+DOCKER_BUILDKIT=0 PLATFORM=rk3588 ROS_DISTRO=jazzy docker compose build ros2
 ```
diff --git a/cross_compile/Dockerfile.cc_base b/cross_compile/cc_base.Dockerfile
similarity index 100%
rename from cross_compile/Dockerfile.cc_base
rename to cross_compile/cc_base.Dockerfile
diff --git a/cross_compile/compose.yaml b/cross_compile/compose.yaml
index 4fff49a..eaf92ec 100644
--- a/cross_compile/compose.yaml
+++ b/cross_compile/compose.yaml
@@ -5,14 +5,14 @@ services:
   cc-base:
     build:
       context: .
-      dockerfile: Dockerfile.cc_base
+      dockerfile: cc_base.Dockerfile
     image: cc-base:latest
 
   # 第二步：编译针对 RK3588 的镜像
   cc-toolchain:
     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}
+      dockerfile: ${PLATFORM}/cc_${PLATFORM}.Dockerfile
     image: ${PLATFORM}/cc-toolchain:latest
     depends_on:
       - cc-base
@@ -21,7 +21,7 @@ services:
   vendor-packages:
     build:
       context: .
-      dockerfile: vendor_packages/Dockerfile.vendor_packages
+      dockerfile: vendor_packages/vendor_packages.Dockerfile
       args:
         CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
     image: ${PLATFORM}/cc-vendor-packages:latest
@@ -31,7 +31,7 @@ services:
   ros2:
     build:
       context: .
-      dockerfile: ros2/Dockerfile.ros_${ROS_DISTRO}
+      dockerfile: ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.Dockerfile
       args:
         ROS_DISTRO: ${ROS_DISTRO}
         PLATFORM: ${PLATFORM}
diff --git a/cross_compile/rk3588/Dockerfile.cc_rk3588 b/cross_compile/rk3588/cc_rk3588.Dockerfile
similarity index 100%
rename from cross_compile/rk3588/Dockerfile.cc_rk3588
rename to cross_compile/rk3588/cc_rk3588.Dockerfile
diff --git a/cross_compile/ros2/jazzy/ros_jazzy.Dockerfile b/cross_compile/ros2/jazzy/ros_jazzy.Dockerfile
new file mode 100644
index 0000000..751f8e5
--- /dev/null
+++ b/cross_compile/ros2/jazzy/ros_jazzy.Dockerfile
@@ -0,0 +1,95 @@
+ARG CC_PLATFORM_IMAGE
+ARG VENDOR_PACKAGES_IMAGE
+
+FROM ${CC_PLATFORM_IMAGE} AS ros_src
+
+ARG ROS_DISTRO
+
+WORKDIR /workspace
+RUN mkdir -p /workspace/src
+COPY ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.repos .
+RUN vcs import --shallow --workers 4 --input ros_${ROS_DISTRO}.repos src
+RUN echo "Build ros ${ROS_DISTRO}"
+
+FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
+
+FROM ${CC_PLATFORM_IMAGE} AS ros_builder
+
+WORKDIR /workspace
+COPY --from=ros_src /workspace /workspace
+COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY ros2/ros_cpp /workspace/src/ros_cpp
+
+RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
+    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
+    && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
+    && touch src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/COLCON_IGNORE
+
+RUN MAKEFLAGS="-j6" colcon build \
+    --executor parallel \
+    --parallel-workers 6 \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to ros_cpp \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DBUILD_TESTING=OFF \
+    -DTRACETOOLS_DISABLED=ON \
+    -DCV_BRIDGE_DISABLE_PYTHON=ON
+
+# pybind11 python soabi issue
+WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
+RUN mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
+WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosbag2_py
+RUN mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so
+RUN mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so
+RUN mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so
+RUN mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so
+RUN mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so
+RUN mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so
+RUN mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so
+RUN mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
+
+FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
+
+COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+# rust install 
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
+RUN . "$HOME/.cargo/env"  \
+    && rustup install 1.75.0 \
+    && rustup default 1.75.0 \
+    && rustup target add aarch64-unknown-linux-gnu
+
+RUN mkdir rmw_zenoh_ws/src -p  \
+    && cd rmw_zenoh_ws/src \
+    && git clone --depth=1 -b jazzy https://github.com/ros2/rmw_zenoh.git
+
+ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
+
+RUN . "$HOME/.cargo/env" \
+    && . ${TARGET_SYSROOT}/local_setup.sh \
+    && colcon build \
+        --install-base ${TARGET_SYSROOT} \
+        --merge-install \
+        --packages-up-to rmw_zenoh_cpp \
+        --cmake-force-configure \
+        --cmake-args \
+        --no-warn-unused-cli \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        -DBUILD_TESTING=OFF \
+        -DZENOHC_CUSTOM_TARGET=aarch64-unknown-linux-gnu
+
+RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/include ${TARGET_SYSROOT} 
+RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/lib ${TARGET_SYSROOT} 
+RUN rm -rf ${TARGET_SYSROOT}/opt
+
+FROM ${CC_PLATFORM_IMAGE} AS final
+
+COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
diff --git a/cross_compile/ros2/jazzy/ros_jazzy.repos b/cross_compile/ros2/jazzy/ros_jazzy.repos
new file mode 100644
index 0000000..ff725dc
--- /dev/null
+++ b/cross_compile/ros2/jazzy/ros_jazzy.repos
@@ -0,0 +1,449 @@
+repositories:
+  ament/ament_cmake:
+    type: git
+    url: https://github.com/ament/ament_cmake.git
+    version: jazzy
+  ament/ament_index:
+    type: git
+    url: https://github.com/ament/ament_index.git
+    version: jazzy
+  ament/ament_lint:
+    type: git
+    url: https://github.com/ament/ament_lint.git
+    version: jazzy
+  ament/ament_package:
+    type: git
+    url: https://github.com/ament/ament_package.git
+    version: jazzy
+  ament/google_benchmark_vendor:
+    type: git
+    url: https://github.com/ament/google_benchmark_vendor.git
+    version: jazzy
+  ament/googletest:
+    type: git
+    url: https://github.com/ament/googletest.git
+    version: jazzy
+  diagnostics:
+    type: git
+    url: https://github.com/ros/diagnostics.git
+    version: ros2-jazzy
+  eProsima/Fast-CDR:
+    type: git
+    url: https://github.com/eProsima/Fast-CDR.git
+    version: 2.2.x
+  eProsima/Fast-DDS:
+    type: git
+    url: https://github.com/eProsima/Fast-DDS.git
+    version: 2.14.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: jazzy
+  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: jazzy
+  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: jazzy
+  ros-perception/laser_geometry:
+    type: git
+    url: https://github.com/ros-perception/laser_geometry.git
+    version: jazzy
+  ros-perception/perception_pcl:
+    type: git
+    url: https://github.com/ros-perception/perception_pcl.git
+    version: jazzy
+  ros-perception/point_cloud_transport:
+    type: git
+    url: https://github.com/ros-perception/point_cloud_transport.git
+    version: jazzy
+  ros-planning/navigation_msgs:
+    type: git
+    url: https://github.com/ros-planning/navigation_msgs.git
+    version: jazzy
+  ros-tooling/keyboard_handler:
+    type: git
+    url: https://github.com/ros-tooling/keyboard_handler.git
+    version: jazzy
+  ros-tooling/libstatistics_collector:
+    type: git
+    url: https://github.com/ros-tooling/libstatistics_collector.git
+    version: jazzy
+  ros-visualization/interactive_markers:
+    type: git
+    url: https://github.com/ros-visualization/interactive_markers.git
+    version: jazzy
+  ros-visualization/python_qt_binding:
+    type: git
+    url: https://github.com/ros-visualization/python_qt_binding.git
+    version: jazzy
+  ros-visualization/qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: jazzy
+  ros-visualization/rqt:
+    type: git
+    url: https://github.com/ros-visualization/rqt.git
+    version: jazzy
+  ros-visualization/rqt_action:
+    type: git
+    url: https://github.com/ros-visualization/rqt_action.git
+    version: jazzy
+  ros-visualization/rqt_bag:
+    type: git
+    url: https://github.com/ros-visualization/rqt_bag.git
+    version: jazzy
+  ros-visualization/rqt_console:
+    type: git
+    url: https://github.com/ros-visualization/rqt_console.git
+    version: jazzy
+  ros-visualization/rqt_graph:
+    type: git
+    url: https://github.com/ros-visualization/rqt_graph.git
+    version: jazzy
+  ros-visualization/rqt_msg:
+    type: git
+    url: https://github.com/ros-visualization/rqt_msg.git
+    version: jazzy
+  ros-visualization/rqt_plot:
+    type: git
+    url: https://github.com/ros-visualization/rqt_plot.git
+    version: jazzy
+  ros-visualization/rqt_publisher:
+    type: git
+    url: https://github.com/ros-visualization/rqt_publisher.git
+    version: jazzy
+  ros-visualization/rqt_py_console:
+    type: git
+    url: https://github.com/ros-visualization/rqt_py_console.git
+    version: jazzy
+  ros-visualization/rqt_reconfigure:
+    type: git
+    url: https://github.com/ros-visualization/rqt_reconfigure.git
+    version: jazzy
+  ros-visualization/rqt_service_caller:
+    type: git
+    url: https://github.com/ros-visualization/rqt_service_caller.git
+    version: jazzy
+  ros-visualization/rqt_shell:
+    type: git
+    url: https://github.com/ros-visualization/rqt_shell.git
+    version: jazzy
+  ros-visualization/rqt_srv:
+    type: git
+    url: https://github.com/ros-visualization/rqt_srv.git
+    version: jazzy
+  ros-visualization/rqt_topic:
+    type: git
+    url: https://github.com/ros-visualization/rqt_topic.git
+    version: jazzy
+  ros-visualization/tango_icons_vendor:
+    type: git
+    url: https://github.com/ros-visualization/tango_icons_vendor.git
+    version: jazzy
+  ros/class_loader:
+    type: git
+    url: https://github.com/ros/class_loader.git
+    version: jazzy
+  ros/kdl_parser:
+    type: git
+    url: https://github.com/ros/kdl_parser.git
+    version: jazzy
+  ros/pluginlib:
+    type: git
+    url: https://github.com/ros/pluginlib.git
+    version: jazzy
+  ros/resource_retriever:
+    type: git
+    url: https://github.com/ros/resource_retriever.git
+    version: jazzy
+  ros/robot_state_publisher:
+    type: git
+    url: https://github.com/ros/robot_state_publisher.git
+    version: jazzy
+  ros/ros_environment:
+    type: git
+    url: https://github.com/ros/ros_environment.git
+    version: jazzy
+  ros/ros_tutorials:
+    type: git
+    url: https://github.com/ros/ros_tutorials.git
+    version: jazzy
+  ros/urdfdom:
+    type: git
+    url: https://github.com/ros/urdfdom.git
+    version: jazzy
+  ros/urdfdom_headers:
+    type: git
+    url: https://github.com/ros/urdfdom_headers.git
+    version: jazzy
+  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: jazzy
+  ros2/common_interfaces:
+    type: git
+    url: https://github.com/ros2/common_interfaces.git
+    version: jazzy
+  ros2/console_bridge_vendor:
+    type: git
+    url: https://github.com/ros2/console_bridge_vendor.git
+    version: jazzy
+  ros2/demos:
+    type: git
+    url: https://github.com/ros2/demos.git
+    version: jazzy
+  ros2/eigen3_cmake_module:
+    type: git
+    url: https://github.com/ros2/eigen3_cmake_module.git
+    version: jazzy
+  ros2/example_interfaces:
+    type: git
+    url: https://github.com/ros2/example_interfaces.git
+    version: jazzy
+  ros2/examples:
+    type: git
+    url: https://github.com/ros2/examples.git
+    version: jazzy
+  ros2/geometry2:
+    type: git
+    url: https://github.com/ros2/geometry2.git
+    version: jazzy
+  ros2/launch:
+    type: git
+    url: https://github.com/ros2/launch.git
+    version: jazzy
+  ros2/launch_ros:
+    type: git
+    url: https://github.com/ros2/launch_ros.git
+    version: jazzy
+  ros2/message_filters:
+    type: git
+    url: https://github.com/ros2/message_filters.git
+    version: jazzy
+  ros2/performance_test_fixture:
+    type: git
+    url: https://github.com/ros2/performance_test_fixture.git
+    version: jazzy
+  ros2/python_cmake_module:
+    type: git
+    url: https://github.com/ros2/python_cmake_module.git
+    version: jazzy
+  ros2/rcl:
+    type: git
+    url: https://github.com/ros2/rcl.git
+    version: jazzy
+  ros2/rcl_interfaces:
+    type: git
+    url: https://github.com/ros2/rcl_interfaces.git
+    version: jazzy
+  ros2/rcl_logging:
+    type: git
+    url: https://github.com/ros2/rcl_logging.git
+    version: jazzy
+  ros2/rclcpp:
+    type: git
+    url: https://github.com/ros2/rclcpp.git
+    version: jazzy
+  ros2/rclpy:
+    type: git
+    url: https://github.com/ros2/rclpy.git
+    version: jazzy
+  ros2/rcpputils:
+    type: git
+    url: https://github.com/ros2/rcpputils.git
+    version: jazzy
+  ros2/rcutils:
+    type: git
+    url: https://github.com/ros2/rcutils.git
+    version: jazzy
+  ros2/realtime_support:
+    type: git
+    url: https://github.com/ros2/realtime_support.git
+    version: jazzy
+  ros2/rmw:
+    type: git
+    url: https://github.com/ros2/rmw.git
+    version: jazzy
+  ros2/rmw_connextdds:
+    type: git
+    url: https://github.com/ros2/rmw_connextdds.git
+    version: jazzy
+  ros2/rmw_cyclonedds:
+    type: git
+    url: https://github.com/ros2/rmw_cyclonedds.git
+    version: jazzy
+  ros2/rmw_dds_common:
+    type: git
+    url: https://github.com/ros2/rmw_dds_common.git
+    version: jazzy
+  ros2/rmw_fastrtps:
+    type: git
+    url: https://github.com/ros2/rmw_fastrtps.git
+    version: jazzy
+  ros2/rmw_implementation:
+    type: git
+    url: https://github.com/ros2/rmw_implementation.git
+    version: jazzy
+  ros2/ros2_tracing:
+    type: git
+    url: https://github.com/ros2/ros2_tracing.git
+    version: jazzy
+  ros2/ros2cli:
+    type: git
+    url: https://github.com/ros2/ros2cli.git
+    version: jazzy
+  ros2/ros2cli_common_extensions:
+    type: git
+    url: https://github.com/ros2/ros2cli_common_extensions.git
+    version: jazzy
+  ros2/ros_testing:
+    type: git
+    url: https://github.com/ros2/ros_testing.git
+    version: jazzy
+  ros2/rosbag2:
+    type: git
+    url: https://github.com/ros2/rosbag2.git
+    version: jazzy
+  ros2/rosidl:
+    type: git
+    url: https://github.com/ros2/rosidl.git
+    version: jazzy
+  ros2/rosidl_core:
+    type: git
+    url: https://github.com/ros2/rosidl_core.git
+    version: jazzy
+  ros2/rosidl_dds:
+    type: git
+    url: https://github.com/ros2/rosidl_dds.git
+    version: jazzy
+  ros2/rosidl_defaults:
+    type: git
+    url: https://github.com/ros2/rosidl_defaults.git
+    version: jazzy
+  ros2/rosidl_dynamic_typesupport:
+    type: git
+    url: https://github.com/ros2/rosidl_dynamic_typesupport.git
+    version: jazzy
+  ros2/rosidl_dynamic_typesupport_fastrtps:
+    type: git
+    url: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps.git
+    version: jazzy
+  ros2/rosidl_python:
+    type: git
+    url: https://github.com/ros2/rosidl_python.git
+    version: jazzy
+  ros2/rosidl_runtime_py:
+    type: git
+    url: https://github.com/ros2/rosidl_runtime_py.git
+    version: jazzy
+  ros2/rosidl_typesupport:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport.git
+    version: jazzy
+  ros2/rosidl_typesupport_fastrtps:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
+    version: jazzy
+  ros2/rpyutils:
+    type: git
+    url: https://github.com/ros2/rpyutils.git
+    version: jazzy
+  ros2/rviz:
+    type: git
+    url: https://github.com/ros2/rviz.git
+    version: jazzy
+  ros2/sros2:
+    type: git
+    url: https://github.com/ros2/sros2.git
+    version: jazzy
+  ros2/system_tests:
+    type: git
+    url: https://github.com/ros2/system_tests.git
+    version: jazzy
+  ros2/test_interface_files:
+    type: git
+    url: https://github.com/ros2/test_interface_files.git
+    version: jazzy
+  ros2/tlsf:
+    type: git
+    url: https://github.com/ros2/tlsf.git
+    version: jazzy
+  ros2/unique_identifier_msgs:
+    type: git
+    url: https://github.com/ros2/unique_identifier_msgs.git
+    version: jazzy
+  ros2/urdf:
+    type: git
+    url: https://github.com/ros2/urdf.git
+    version: jazzy
+  variants:
+    type: git
+    url: https://github.com/ros2/variants.git
+    version: jazzy
+  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
+  ros2/console_bridge_vendor:
+    type: git
+    url: https://github.com/ros2/console_bridge_vendor.git
+    version: rolling
+  ros2/libyaml_vendor:
+    type: git
+    url: https://github.com/ros2/libyaml_vendor.git
+    version: rolling
+  ros2/spdlog_vendor:
+    type: git
+    url: https://github.com/ros2/spdlog_vendor.git
+    version: rolling
+  ros2/yaml_cpp_vendor:
+    type: git
+    url: https://github.com/ros2/yaml_cpp_vendor.git
+    version: rolling
+  ros2/tinyxml2_vendor:
+    type: git
+    url: https://github.com/ros2/tinyxml2_vendor.git
+    version: jazzy
+  ros2/orocos_kdl_vendor:
+    type: git
+    url: https://github.com/ros2/orocos_kdl_vendor.git
+    version: jazzy
+  ros2/pybind11_vendor:
+    type: git
+    url: https://github.com/ros2/pybind11_vendor.git
+    version: jazzy
diff --git a/cross_compile/ros2/Dockerfile.ros_rolling b/cross_compile/ros2/rolling/ros_rolling.Dockerfile
similarity index 97%
rename from cross_compile/ros2/Dockerfile.ros_rolling
rename to cross_compile/ros2/rolling/ros_rolling.Dockerfile
index 4cca55b..9652d70 100644
--- a/cross_compile/ros2/Dockerfile.ros_rolling
+++ b/cross_compile/ros2/rolling/ros_rolling.Dockerfile
@@ -66,7 +66,7 @@ RUN . "$HOME/.cargo/env"  \
 
 RUN mkdir rmw_zenoh_ws/src -p  \
     && cd rmw_zenoh_ws/src \
-    && git clone -b rolling https://github.com/ros2/rmw_zenoh.git
+    && git clone --depth=1 -b rolling https://github.com/ros2/rmw_zenoh.git
 
 ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
 
diff --git a/cross_compile/ros2/ros_rolling.repos b/cross_compile/ros2/rolling/ros_rolling.repos
similarity index 99%
rename from cross_compile/ros2/ros_rolling.repos
rename to cross_compile/ros2/rolling/ros_rolling.repos
index 150b5b0..6610391 100644
--- a/cross_compile/ros2/ros_rolling.repos
+++ b/cross_compile/ros2/rolling/ros_rolling.repos
@@ -430,4 +430,4 @@ repositories:
   ros2/yaml_cpp_vendor:
     type: git
     url: https://github.com/ros2/yaml_cpp_vendor.git
-    version: rolling
\ No newline at end of file
+    version: rolling
diff --git a/cross_compile/vendor_packages/ceres_vendor/CMakeLists.txt b/cross_compile/vendor_packages/ceres_vendor/CMakeLists.txt
index 2663105..b86c1e6 100644
--- a/cross_compile/vendor_packages/ceres_vendor/CMakeLists.txt
+++ b/cross_compile/vendor_packages/ceres_vendor/CMakeLists.txt
@@ -14,16 +14,17 @@ endif()
 include(FetchContent)
 FetchContent_Declare(
   ceres_vendor
-  GIT_REPOSITORY https://github.com/EricX-Zhao/ceres-solver.git
-  GIT_TAG        suitesparse  # 锁定 2.0.0 标签
-  GIT_SHALLOW    TRUE
+  URL https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.tar.gz
+  # SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/ext/
 )
 
-# set(SUITESPARSE OFF CACHE BOOL "" FORCE)
-set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE)
+set(MINIGLOG ON CACHE BOOL "Use a stripped down version of glog." FORCE)
+set(GFLAGS OFF CACHE BOOL "Enable Google Flags." FORCE)
+set(BUILD_SHARED_LIBS ON CACHE BOOL "Build Shared Library" FORCE)
 set(BUILD_EXAMPLES OFF CACHE BOOL "BUILD_EXAMPLES" FORCE)
 set(BUILD_TESTING OFF CACHE BOOL "BUILD_TESTING" FORCE)
 set(BUILD_BENCHMARKS OFF CACHE BOOL "BUILD_BENCHMARKS" FORCE)
 set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_LOG_LEVEL=-1")
 
 FetchContent_MakeAvailable(ceres_vendor)
diff --git a/cross_compile/vendor_packages/ceres_vendor/package.xml b/cross_compile/vendor_packages/ceres_vendor/package.xml
index 01b7ae0..a3655f1 100644
--- a/cross_compile/vendor_packages/ceres_vendor/package.xml
+++ b/cross_compile/vendor_packages/ceres_vendor/package.xml
@@ -8,8 +8,8 @@
   <license>TODO: License declaration</license>
 
   <depend>eigen3_vendor</depend>
-  <depend>glog_vendor</depend>
-  <depend>suitesparse_vendor</depend>
+  <!-- <depend>glog_vendor</depend> -->
+  <!-- <depend>suitesparse_vendor</depend> -->
   
   <export>
     <build_type>cmake</build_type>
diff --git a/cross_compile/vendor_packages/Dockerfile.vendor_packages b/cross_compile/vendor_packages/vendor_packages.Dockerfile
similarity index 94%
rename from cross_compile/vendor_packages/Dockerfile.vendor_packages
rename to cross_compile/vendor_packages/vendor_packages.Dockerfile
index c063f28..63d351d 100644
--- a/cross_compile/vendor_packages/Dockerfile.vendor_packages
+++ b/cross_compile/vendor_packages/vendor_packages.Dockerfile
@@ -20,10 +20,10 @@ RUN cd workspace \
 FROM ${CC_PLATFORM_IMAGE} AS ceres_vendor
 
 COPY vendor_packages/eigen3_vendor      workspace/src/eigen3_vendor
-COPY vendor_packages/gflags_vendor      workspace/src/gflags_vendor
-COPY vendor_packages/glog_vendor        workspace/src/glog_vendor
-COPY vendor_packages/openblas_vendor    workspace/src/openblas_vendor
-COPY vendor_packages/suitesparse_vendor workspace/src/suitesparse_vendor
+# COPY vendor_packages/gflags_vendor      workspace/src/gflags_vendor
+# COPY vendor_packages/glog_vendor        workspace/src/glog_vendor
+# COPY vendor_packages/openblas_vendor    workspace/src/openblas_vendor
+# COPY vendor_packages/suitesparse_vendor workspace/src/suitesparse_vendor
 COPY vendor_packages/ceres_vendor       workspace/src/ceres_vendor
 
 RUN cd workspace \