将 Gitea 注册表地址从 gitea:3000 改为 localhost:3000 并新增推送镜像 workflow

Comment out the Python3_NumPy_INCLUDE_DIR setting.

.github/workflows/build-images.yaml

@@ -2,7 +2,6 @@ name: Build Cross-Compiled ROS 2 Images
 
 permissions:
   contents: read
-  packages: write
 
 on:
   workflow_dispatch:
@@ -11,220 +10,70 @@ on:
         description: "Target platform"
         required: true
         type: choice
-        options: [rk3588]
+        options: [rk3588, rk3576]
-        default: rk3588
+        default: rk3576
       ros_distro:
         description: "ROS 2 distribution"
         required: true
         type: choice
         options: [rolling, jazzy, lyrical]
         default: lyrical
-      push_images:
-        description: "Push built images to registry"
-        required: false
-        type: boolean
-        default: false
-
-env:
-  REGISTRY: ghcr.io
 
 jobs:
   build:
     runs-on: ubuntu-22.04
-    strategy:
+    env:
-      matrix:
+      PLATFORM: ${{ inputs.platform }}
-        platform: ${{ fromJSON(format('["{0}"]', inputs.platform)) }}
+      ROS_DISTRO: ${{ inputs.ros_distro }}
-        ros_distro: ${{ fromJSON(format('["{0}"]', inputs.ros_distro)) }}
-      fail-fast: false
 
     steps:
-      - name: Set image namespace and tag
-        run: |
-          echo "IMAGE_NAMESPACE=${GITHUB_REPOSITORY,,}" >> $GITHUB_ENV
-          echo "IMAGE_TAG=$(date +%Y%m%d)" >> $GITHUB_ENV
-
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Set up Docker Buildx
+      - name: Debug inputs
-        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker
-
-      - name: Log in to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      # ── Compute cache keys ────────────────────────────────────────────
-      # Each key = hash(own files) + upstream key, so any upstream change
-      # transitively invalidates all downstream stages.
-      - name: Compute cache keys
-        id: keys
         run: |
-          CC_BASE_KEY=$(sha256sum cross_compile/cc_base.Dockerfile | cut -d' ' -f1)
+          echo "PLATFORM=$PLATFORM"
-
+          echo "ROS_DISTRO=$ROS_DISTRO"
-          CC_TOOLCHAIN_FILES=$(find cross_compile/${{ matrix.platform }} -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
+          NPROC=$(nproc)
-          CC_TOOLCHAIN_KEY=$(echo "$CC_TOOLCHAIN_FILES $CC_BASE_KEY" | sha256sum | cut -d' ' -f1)
+          BUILD_JOBS=$(( NPROC / 2 > 0 ? NPROC / 2 : 1 ))
-
+          echo "BUILD_JOBS=$BUILD_JOBS" >> $GITHUB_ENV
-          VENDOR_FILES=$(find cross_compile/vendor_packages -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
+          
-          VENDOR_KEY=$(echo "$VENDOR_FILES $CC_TOOLCHAIN_KEY" | sha256sum | cut -d' ' -f1)
+      # ── Stage 0: Download Buildroot SDK ────────────────────────────────
-
+      - name: Download Buildroot SDK
-          ROS2_FILES=$(find cross_compile/ros2/${{ matrix.ros_distro }} cross_compile/ros2/ros_cpp -type f | sort | xargs sha256sum | sha256sum | cut -d' ' -f1)
+        env:
-          ROS2_KEY=$(echo "$ROS2_FILES $VENDOR_KEY" | sha256sum | cut -d' ' -f1)
+          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
-
+        run: |
-          echo "cc_base=$CC_BASE_KEY" >> $GITHUB_OUTPUT
+          echo "token length: ${#GITEA_TOKEN}"
-          echo "cc_toolchain=$CC_TOOLCHAIN_KEY" >> $GITHUB_OUTPUT
+          cd cross_compile/${PLATFORM}
-          echo "vendor=$VENDOR_KEY" >> $GITHUB_OUTPUT
+          SDK_URL="http://gitea:3000/api/packages/xixing-tech/generic/${PLATFORM}-buildroot-sdk/1.0.0/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz"
-          echo "ros2=$ROS2_KEY" >> $GITHUB_OUTPUT
+          curl --fail -u "EricXZ:${GITEA_TOKEN}" -L -OJ "$SDK_URL"
+          ls -lh
+          # 或者更清晰的层级展示
+          find . -maxdepth 2
 
       # ── Stage 1: cc-base ─────────────────────────────────────────────
-      - name: Check cc-base cache
-        id: cc-base
-        run: |
-          EXPECTED="${{ steps.keys.outputs.cc_base }}"
-          if docker pull ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest 2>/dev/null; then
-            docker tag ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest cc-base:latest
-            CACHED=$(docker inspect cc-base:latest --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
-            [ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
-          else
-            echo "hit=false" >> $GITHUB_OUTPUT
-          fi
-
       - name: Build cc-base
-        if: steps.cc-base.outputs.hit != 'true'
         run: |
-          docker compose -f cross_compile/compose.yaml build cc-base
+          cd cross_compile
-          TMPDIR=$(mktemp -d)
+          docker compose build cc-base
-          docker build \
-            --label "cache.key=${{ steps.keys.outputs.cc_base }}" \
-            -t cc-base:latest -f - "$TMPDIR" << 'EOF'
-          FROM cc-base:latest
-          EOF
-          rm -rf "$TMPDIR"
-
-      - name: Push cc-base
-        if: inputs.push_images
-        run: |
-          docker tag cc-base:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:${{ env.IMAGE_TAG }}
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:${{ env.IMAGE_TAG }}
-          docker tag cc-base:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
 
       # ── Stage 2: cc-toolchain ─────────────────────────────────────────
-      - name: Check cc-toolchain cache
+      - name: Build cc-toolchain
-        id: cc-toolchain
         run: |
-          EXPECTED="${{ steps.keys.outputs.cc_toolchain }}"
+          cd cross_compile
-          REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest"
+          docker compose build cc-toolchain
-          LOCAL="${{ matrix.platform }}/cc-toolchain:latest"
-          if docker pull "$REMOTE" 2>/dev/null; then
-            docker tag "$REMOTE" "$LOCAL"
-            CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
-            [ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
-          else
-            echo "hit=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Build cc-toolchain (${{ matrix.platform }})
-        if: steps.cc-toolchain.outputs.hit != 'true'
-        run: |
-          PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build cc-toolchain
-          TMPDIR=$(mktemp -d)
-          docker build \
-            --label "cache.key=${{ steps.keys.outputs.cc_toolchain }}" \
-            -t ${{ matrix.platform }}/cc-toolchain:latest -f - "$TMPDIR" << 'EOF'
-          FROM ${{ matrix.platform }}/cc-toolchain:latest
-          EOF
-          rm -rf "$TMPDIR"
-
-      - name: Push cc-toolchain
-        if: inputs.push_images
-        run: |
-          docker tag ${{ matrix.platform }}/cc-toolchain:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:${{ env.IMAGE_TAG }}
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:${{ env.IMAGE_TAG }}
-          docker tag ${{ matrix.platform }}/cc-toolchain:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
 
       # ── Stage 3: vendor-packages ──────────────────────────────────────
-      - name: Check vendor-packages cache
+      - name: Build vendor-packages
-        id: vendor
         run: |
-          EXPECTED="${{ steps.keys.outputs.vendor }}"
+          cd cross_compile
-          REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest"
+          docker compose build vendor-packages
-          LOCAL="${{ matrix.platform }}/cc-vendor-packages:latest"
-          if docker pull "$REMOTE" 2>/dev/null; then
-            docker tag "$REMOTE" "$LOCAL"
-            CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
-            [ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
-          else
-            echo "hit=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Build vendor-packages (${{ matrix.platform }})
-        if: steps.vendor.outputs.hit != 'true'
-        run: |
-          PLATFORM=${{ matrix.platform }} docker compose -f cross_compile/compose.yaml build vendor-packages
-          TMPDIR=$(mktemp -d)
-          docker build \
-            --label "cache.key=${{ steps.keys.outputs.vendor }}" \
-            -t ${{ matrix.platform }}/cc-vendor-packages:latest -f - "$TMPDIR" << 'EOF'
-          FROM ${{ matrix.platform }}/cc-vendor-packages:latest
-          EOF
-          rm -rf "$TMPDIR"
-
-      - name: Push vendor-packages
-        if: inputs.push_images
-        run: |
-          docker tag ${{ matrix.platform }}/cc-vendor-packages:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:${{ env.IMAGE_TAG }}
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:${{ env.IMAGE_TAG }}
-          docker tag ${{ matrix.platform }}/cc-vendor-packages:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
 
       # ── Stage 4: ros2 ─────────────────────────────────────────────────
-      - name: Check ros2 cache
+      - name: Build ROS 2
-        id: ros2
         run: |
-          EXPECTED="${{ steps.keys.outputs.ros2 }}"
+          cd cross_compile
-          REMOTE="${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest"
+          docker compose build ros2
-          LOCAL="${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest"
-          if docker pull "$REMOTE" 2>/dev/null; then
-            docker tag "$REMOTE" "$LOCAL"
-            CACHED=$(docker inspect "$LOCAL" --format '{{ index .Config.Labels "cache.key" }}' 2>/dev/null || echo "")
-            [ "$CACHED" = "$EXPECTED" ] && echo "hit=true" >> $GITHUB_OUTPUT || echo "hit=false" >> $GITHUB_OUTPUT
-          else
-            echo "hit=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Build ROS 2 (${{ matrix.ros_distro }})
-        if: steps.ros2.outputs.hit != 'true'
-        run: |
-          PLATFORM=${{ matrix.platform }} ROS_DISTRO=${{ matrix.ros_distro }} docker compose -f cross_compile/compose.yaml build ros2
-          TMPDIR=$(mktemp -d)
-          docker build \
-            --label "cache.key=${{ steps.keys.outputs.ros2 }}" \
-            -t ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest -f - "$TMPDIR" << 'EOF'
-          FROM ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
-          EOF
-          rm -rf "$TMPDIR"
-
-      - name: Push ROS 2 image
-        if: inputs.push_images
-        run: |
-          docker tag ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:${{ env.IMAGE_TAG }}
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:${{ env.IMAGE_TAG }}
-          docker tag ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
 
       # ── Summary ───────────────────────────────────────────────────────
       - name: Image summary
@@ -236,3 +85,21 @@ jobs:
             --filter "reference=*/cc-*" \
             --format "| \`{{.Repository}}:{{.Tag}}\` | {{.Size}} |" \
             >> $GITHUB_STEP_SUMMARY
+
+      # ── Stage 5: push to Gitea container registry ──────────────────
+      - name: Log in to Gitea Container Registry
+        env:
+          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
+        run: |
+          echo "${GITEA_TOKEN}" | docker login localhost:3000 -u EricXZ --password-stdin
+
+      - name: Tag image for registry
+        run: |
+          docker tag rk3576/cc-ros-lyrical:latest localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-latest
+          # 建议同时打一个带 commit sha 的版本tag,方便追溯具体是哪次构建产物
+          docker tag rk3576/cc-ros-lyrical:latest localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-${GITHUB_SHA::8}
+
+      - name: Push image to Gitea registry
+        run: |
+          docker push localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-latest
+          docker push localhost:3000/xixing-tech/cc-ros-lyrical:${PLATFORM}-${ROS_DISTRO}-${GITHUB_SHA::8}

.github/workflows/push-image.yaml

@@ -0,0 +1,76 @@
+name: Push Cross-Compiled Image to Gitea Registry
+
+permissions:
+  contents: read
+
+on:
+  workflow_dispatch:
+    inputs:
+      platform:
+        description: "Target platform"
+        required: true
+        type: choice
+        options: [rk3588, rk3576]
+        default: rk3576
+      ros_distro:
+        description: "ROS 2 distribution"
+        required: true
+        type: choice
+        options: [rolling, jazzy, lyrical]
+        default: lyrical
+
+jobs:
+  push:
+    runs-on: ubuntu-22.04   # 换成你实际能正常调度的label
+    env:
+      PLATFORM: ${{ inputs.platform }}
+      ROS_DISTRO: ${{ inputs.ros_distro }}
+
+    steps:
+      - name: Check local image exists
+        run: |
+          IMAGE="${PLATFORM}/cc-ros-${ROS_DISTRO}:latest"
+          echo "IMAGE=${IMAGE}" >> $GITHUB_ENV
+          if ! docker image inspect "${IMAGE}" > /dev/null 2>&1; then
+            echo "❌ 本地找不到镜像 ${IMAGE},请先跑构建 workflow"
+            exit 1
+          fi
+          echo "✅ 找到本地镜像 ${IMAGE}"
+          docker inspect --format='Size: {{.Size}} bytes' "${IMAGE}"
+
+      - name: Check token is set
+        env:
+          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
+        run: |
+          if [ -z "$GITEA_TOKEN" ]; then
+            echo "❌ ERIC_TOKEN 是空的,检查secret名字"
+            exit 1
+          fi
+          echo "✅ token长度: ${#GITEA_TOKEN}"
+
+      - name: Log in to Gitea Container Registry
+        env:
+          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
+        run: |
+          echo "${GITEA_TOKEN}" | docker login localhost:3000 -u EricXZ --password-stdin
+
+      - name: Tag image for registry
+        run: |
+          SHA8=$(echo "${GITHUB_SHA}" | cut -c1-8)
+          echo "SHA8=${SHA8}" >> $GITHUB_ENV
+          docker tag "${IMAGE}" "localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-latest"
+          docker tag "${IMAGE}" "localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-${SHA8}"
+
+      - name: Push image to Gitea registry
+        run: |
+          docker push "localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-latest"
+          docker push "localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-${SHA8}"
+
+      - name: Summary
+        if: always()
+        run: |
+          echo "### Pushed Image 🚀" >> $GITHUB_STEP_SUMMARY
+          echo "| tag | size |" >> $GITHUB_STEP_SUMMARY
+          echo "|---|---|" >> $GITHUB_STEP_SUMMARY
+          echo "| \`localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-latest\` | $(docker inspect --format='{{.Size}}' "${IMAGE}") bytes |" >> $GITHUB_STEP_SUMMARY
+          echo "| \`localhost:3000/xixing-tech/cc-ros-${ROS_DISTRO}:${PLATFORM}-${SHA8}\` | 同上 |" >> $GITHUB_STEP_SUMMARY

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

cross_compile/README.md

@@ -9,6 +9,12 @@ PLATFORM=rk3588 docker compose build vendor-packages
 
 PLATFORM=rk3588 ROS_DISTRO=rolling docker compose build ros2
 
+PLATFORM=rk3576 docker compose build cc-toolchain
+
+PLATFORM=rk3576 docker compose build vendor-packages
+
+PLATFORM=rk3576 ROS_DISTRO=lyrical docker compose build ros2
+
 # debug
 DOCKER_BUILDKIT=0 PLATFORM=rk3588 ROS_DISTRO=jazzy docker compose build ros2
 ```

cross_compile/cc_base.Dockerfile

@@ -33,6 +33,7 @@ RUN apt update && apt install -y \
     python3-pytest-runner \
     python3-pytest-timeout \
     python3-future \
+    python3-lark \
     python3-argcomplete \
     autoconf automake libtool patchelf ninja-build python3.10-venv \
     ros-dev-tools

cross_compile/compose.yaml

@@ -13,6 +13,8 @@ services:
     build:
       context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹
       dockerfile: ${PLATFORM}/cc_${PLATFORM}.Dockerfile
+      args:
+        BUILD_JOBS: ${BUILD_JOBS:-6}
     image: ${PLATFORM}/cc-toolchain:latest
     depends_on:
       - cc-base
@@ -21,7 +23,7 @@ services:
   vendor-packages:
     build:
       context: .
-      dockerfile: vendor_packages/vendor_packages.Dockerfile
+      dockerfile: vendor/vendor_packages.Dockerfile
       args:
         CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
     image: ${PLATFORM}/cc-vendor-packages:latest

cross_compile/rk3576/cc_rk3576.Dockerfile

@@ -0,0 +1,29 @@
+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/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz /opt/
+RUN tar -zxf aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz \
+&& rm /opt/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz
+
+COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
+
+ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
+
+ENV TARGET_SYSROOT=/opt/rk3576
+ENV PATH="${PATH}:/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/bin"
+ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.10/site-packages
+ENV CC=aarch64-buildroot-linux-gnu-gcc \
+    CXX=aarch64-buildroot-linux-gnu-g++ \
+    AR=aarch64-buildroot-linux-gnu-ar \
+    RANLIB=aarch64-buildroot-linux-gnu-ranlib \
+    HOSTARCH=aarch64-buildroot-linux-gnu \
+    BUILDARCH=x86_64-linux-gnu
+    
+
+ARG BUILD_JOBS=6
+ENV MAKEFLAGS="-j${BUILD_JOBS}"

cross_compile/rk3576/rk3576.toolchain.cmake

@@ -0,0 +1,30 @@
+# include buildroot toolchain file
+include(/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake)
+
+list(APPEND CMAKE_FIND_ROOT_PATH
+    $ENV{TARGET_SYSROOT}
+    $ENV{ROS_ROOT}
+    ${CMAKE_INSTALL_PREFIX}
+)
+
+# Set compile flags which are overwritter by android.toolchain.cmake
+# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
+
+add_link_options($<$<CONFIG:Release>:-s>)
+add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
+
+# use buildroot sdk python3.11
+set(Python3_EXECUTABLE /usr/bin/python3.10)
+# set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
+# set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
+set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
+
+# use cross compile packages
+set(LZ4_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
+set(LZ4_LIBRARY $ENV{TARGET_SYSROOT}/lib/liblz4.so)
+set(flann_DIR $ENV{TARGET_SYSROOT}/lib/cmake/flann)
+set(FLANN_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
+set(FLANN_LIBRARY $ENV{TARGET_SYSROOT}/lib/libflann.so)
+set(yaml-cpp_DIR $ENV{TARGET_SYSROOT}/lib/cmake/yaml-cpp)
+set(OpenCV_DIR $ENV{TARGET_SYSROOT}/lib/cmake/opencv4)

cross_compile/rk3588/rk3588.toolchain.cmake

@@ -23,7 +23,7 @@ list(APPEND CMAKE_FIND_ROOT_PATH
 # 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(Python3_NumPy_INCLUDE_DIR $ENV{ROS_ROOT}/lib/python3.10/site-packages/numpy/core/include)
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -13,14 +13,18 @@ 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
 
+# COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
+
 # apply patch
 RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
 
@@ -29,7 +33,8 @@ RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
     && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
     && touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
 
-RUN MAKEFLAGS="-j6" colcon build \
+# -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
+RUN colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -45,23 +50,9 @@ RUN MAKEFLAGS="-j6" colcon build \
     -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
-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 
@@ -75,7 +66,14 @@ RUN mkdir rmw_zenoh_ws/src -p  \
     && cd rmw_zenoh_ws/src \
     && git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
 
-ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
+# --- 给 cargo/cc-rs 补上明确的区分 ---
+ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc \
+    CC_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-gcc \
+    CXX_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-g++ \
+    AR_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-ar \
+    HOST_CC=gcc \
+    HOST_CXX=g++ \
+    HOST_AR=ar
 
 RUN . "$HOME/.cargo/env" \
     && . ${TARGET_SYSROOT}/local_setup.sh \
@@ -101,4 +99,21 @@ 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}
+
+# pybind11 python soabi issue
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rclpy \
+    && mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosbag2_py \
+    && mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so \
+    && mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so \
+    && mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so \
+    && mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so \
+    && mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so \
+    && mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so \
+    && mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so \
+    && mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosidl_buffer \
+    && mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so 
+
+WORKDIR /workspace

cross_compile/vendor/extract_wheels.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+set -euo pipefail
+
+SITE_PACKAGES="${1:?usage: extract_wheels.sh <site-packages-dir> <wheels-dir>}"
+WHEELS_DIR="${2:?usage: extract_wheels.sh <site-packages-dir> <wheels-dir>}"
+
+mkdir -p "$SITE_PACKAGES"
+
+for f in "$WHEELS_DIR"/*; do
+  case "$f" in
+    *.whl)
+      python3 -m zipfile -e "$f" "$SITE_PACKAGES/"
+      ;;
+    *.tar.gz|*.tar.bz2)
+      tmpdir=$(mktemp -d)
+      tar xf "$f" -C "$tmpdir"
+      for pkgdir in "$tmpdir"/*/; do
+        for inner in "$pkgdir"*/; do
+          if [ -f "${inner}__init__.py" ]; then
+            cp -r "$inner" "$SITE_PACKAGES/"
+          fi
+        done
+        find "$pkgdir" -maxdepth 1 -name "*.py" -exec cp {} "$SITE_PACKAGES/" \;
+      done
+      rm -rf "$tmpdir"
+      ;;
+  esac
+done
+
+echo "Extraction done. Contents of $SITE_PACKAGES:"
+ls "$SITE_PACKAGES"

cross_compile/vendor/packages/asio_vendor/CMakeLists.txt

@@ -13,7 +13,7 @@ include(FetchContent)
 FetchContent_Declare(
   asio_vendor
   GIT_REPOSITORY https://github.com/chriskohlhoff/asio.git
-  GIT_TAG asio-1-36-0
+  GIT_TAG asio-1-28-1
   GIT_SHALLOW TRUE
 )
 

cross_compile/vendor/vendor_packages.Dockerfile

@@ -2,7 +2,7 @@ ARG CC_PLATFORM_IMAGE
 
 FROM ${CC_PLATFORM_IMAGE} AS system_packages
 
-COPY vendor_packages workspace/src/
+COPY vendor/packages workspace/src/
 
 RUN cd workspace \
     && colcon build \
@@ -13,18 +13,19 @@ RUN cd workspace \
     --cmake-args \
     --no-warn-unused-cli \
     -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_FLAGS="-Wno-error" \
+    -DCMAKE_CXX_FLAGS="-Wno-error" \
     -DBUILD_TESTING=OFF \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
-
 FROM ${CC_PLATFORM_IMAGE} AS ceres_vendor
 
-COPY vendor_packages/eigen3_vendor      workspace/src/eigen3_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/ceres_vendor       workspace/src/ceres_vendor
+COPY vendor/packages/ceres_vendor       workspace/src/ceres_vendor
 
 RUN cd workspace \
     && colcon build \
@@ -40,7 +41,7 @@ RUN cd workspace \
 
 FROM ${CC_PLATFORM_IMAGE} AS opencv_vendor
 
-COPY vendor_packages/opencv_vendor workspace/src/opencv_vendor
+COPY vendor/packages/opencv_vendor workspace/src/opencv_vendor
 
 RUN cd workspace \
     && colcon build \
@@ -62,15 +63,15 @@ 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 \
+    && sed -i "/using gcc/c using gcc : arm64 : ${CC} ;" project-config.jam \
     && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
 
 FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
 
-COPY vendor_packages/eigen3_vendor workspace/src/eigen3_vendor
+COPY vendor/packages/eigen3_vendor workspace/src/eigen3_vendor
-COPY vendor_packages/liblz4_vendor workspace/src/liblz4_vendor
+COPY vendor/packages/liblz4_vendor workspace/src/liblz4_vendor
-COPY vendor_packages/flann_vendor workspace/src/flann_vendor
+COPY vendor/packages/flann_vendor workspace/src/flann_vendor
-COPY vendor_packages/pcl_vendor workspace/src/pcl_vendor
+COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor
 
 COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
@@ -85,7 +86,6 @@ RUN cd workspace \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
-
 # OpenSSL
 FROM ${CC_PLATFORM_IMAGE} AS ssl_builder
 WORKDIR /tmp
@@ -101,12 +101,22 @@ RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
     && make -j$(($(nproc) / 2)) && make install \
     && rm -rf /tmp
 
+# ffi
+FROM ${CC_PLATFORM_IMAGE} AS ffi_builder
+RUN git clone --depth=1 https://github.com/libffi/libffi.git \
+    && cd libffi \
+    && ./autogen.sh \
+    && ./configure --host=${HOSTARCH} --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
+    && make -j$(nproc) && make install
+
 # Python 3.12
 FROM ${CC_PLATFORM_IMAGE} AS python_builder
 
 WORKDIR /tmp
 
 COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=ffi_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 \
@@ -115,43 +125,61 @@ RUN wget https://www.python.org/ftp/python/3.10.12/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
-    
-# export CC=aarch64-none-linux-gnu-gcc 
-# export CXX=aarch64-none-linux-gnu-g++ 
-# export AR=aarch64-none-linux-gnu-ar 
-# export RANLIB=aarch64-none-linux-gnu-ranlib 
-# export HOSTARCH=aarch64-none-linux-gnu 
-# export BUILDARCH=x86_64-linux-gn
 
-RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \
+ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
-    --host=aarch64-none-linux-gnu \
+    LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
+    CFLAGS="-fPIC" \
+    PKG_CONFIG_PATH="" \
+    PKG_CONFIG_LIBDIR="${TARGET_SYSROOT}/lib/pkgconfig" \
+    PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"
+
+RUN ./configure \
+    --host=${HOSTARCH} \
     --build=x86_64-linux-gnu \
     --prefix=${TARGET_SYSROOT} \
-    --with-build-python=python3.10 \
     --disable-ipv6 \
     --enable-optimizations \
     --with-openssl=${TARGET_SYSROOT} \
     ac_cv_file__dev_ptmx=yes \
     ac_cv_file__dev_ptc=yes \
-    && make -j$(($(nproc) / 2)) && make install
+    && make -j$(($(nproc) / 2)) \
+    && make install
 
 # https://github.com/benfogle/crossenv
 # cross compile python packages 
-WORKDIR /tmp
+FROM ${CC_PLATFORM_IMAGE} AS python_pkg_builder
-# /opt/python3.10/venv/build/bin/pip install 'setuptools==68.2.2' wheel
-RUN python3 -m pip install crossenv \
-    && python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
-    && . venv/bin/activate \
-    && pip -v install numpy==1.21.5 lark==1.1.1 packaging typing-extensions --prefix=${TARGET_SYSROOT} \
-    && ./venv/build/bin/pip install 'setuptools==68.2.2' wheel \
-    && pip -v install empy==3.3.4 pyyaml psutil argcomplete --prefix=${TARGET_SYSROOT}
 
+WORKDIR /tmp
+
+COPY vendor/extract_wheels.sh /tmp/extract_wheels.sh
+
+# python packages
+RUN pip download --no-deps -d /wheels \
+    empy==3.3.4 \
+    lark \
+    pyyaml \
+    catkin_pkg \
+    setuptools \
+    packaging \
+    pyparsing \
+    argcomplete \
+    osrf-pycommon \
+    typing-extensions \
+    rosdistro 
+
+# python packages with c extension
+RUN pip download \
+    --no-deps \
+    --only-binary=:all: \
+    --python-version 310 \
+    --implementation cp \
+    --abi cp310 \
+    --platform manylinux2014_aarch64 \
+    -d /wheels \
+    psutil numpy==1.21.5
+
+RUN chmod +x /tmp/extract_wheels.sh && \
+    /tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /wheels
 
 FROM ${CC_PLATFORM_IMAGE} AS final
 
@@ -160,3 +188,4 @@ 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}
+COPY --from=python_pkg_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}