Switch RK3576 toolchain to Buildroot SDK and migrate to Python 3.10

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

cross_compile/rk3576/cc_rk3576.Dockerfile

@@ -2,16 +2,28 @@ 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
+# 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 PATH="/opt/arm-gnu-toolchain-13.2.Rel1-x86_64-aarch64-none-linux-gnu/bin:${PATH}"
-
 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
+    
 
-WORKDIR /root
+ARG BUILD_JOBS=6
+ENV MAKEFLAGS="-j${BUILD_JOBS}"

cross_compile/rk3576/rk3576.toolchain.cmake

@@ -1,16 +1,7 @@
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR aarch64)
+# include buildroot toolchain file
+include(/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake)
 
-set(SYSROOT /opt/arm-gnu-toolchain-13.2.Rel1-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 
+list(APPEND CMAKE_FIND_ROOT_PATH
     $ENV{TARGET_SYSROOT}
     $ENV{ROS_ROOT}
     ${CMAKE_INSTALL_PREFIX}
@@ -20,13 +11,20 @@ list(APPEND CMAKE_FIND_ROOT_PATH
 # 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,$ENV{TARGET_SYSROOT}/lib")
+add_link_options($<$<CONFIG:Release>:-s>)
+add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
 
-set(Python3_EXECUTABLE /usr/bin/python3)
-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)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+# 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/ros2/lyrical/ros_lyrical.Dockerfile

@@ -23,6 +23,8 @@ 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
 
@@ -32,7 +34,7 @@ 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" ROS_ROOT=${TARGET_SYSROOT} colcon build \
+RUN MAKEFLAGS="-j6" colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -46,29 +48,15 @@ RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} colcon build \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=ON \
-    -DCV_BRIDGE_DISABLE_PYTHON=ON \
-    -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
-
-# 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 
+    -DCV_BRIDGE_DISABLE_PYTHON=ON
 
 FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
 ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
+RUN python3.10 -m pip install numpy==1.21.5
+
 # rust install 
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 RUN . "$HOME/.cargo/env"  \
@@ -80,7 +68,14 @@ 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" \
     && . ${TARGET_SYSROOT}/local_setup.sh \
@@ -107,4 +102,20 @@ ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
 ENV TARGET_SYSROOT=${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/vendor_packages.Dockerfile

@@ -13,6 +13,8 @@ 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}
 
@@ -61,7 +63,7 @@ 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
@@ -74,7 +76,7 @@ COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor
 COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
 RUN cd workspace \
-    && colcon build \
+    && MAKEFLAGS="-j6" colcon build \
     --install-base ${TARGET_SYSROOT} \
     --merge-install \
     --packages-up-to pcl_vendor \
@@ -84,7 +86,6 @@ RUN cd workspace \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
-
 # OpenSSL
 FROM ${CC_PLATFORM_IMAGE} AS ssl_builder
 WORKDIR /tmp
@@ -105,7 +106,7 @@ FROM ${CC_PLATFORM_IMAGE} AS ffi_builder
 RUN git clone --depth=1 https://github.com/libffi/libffi.git \
     && cd libffi \
     && ./autogen.sh \
-    && ./configure --host=aarch64-none-linux-gnu --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
+    && ./configure --host=${HOSTARCH} --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
     && make -j$(nproc) && make install
 
 # Python 3.12
@@ -124,12 +125,6 @@ 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
 
 ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
     LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
@@ -139,7 +134,7 @@ ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
     PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"
 
 RUN ./configure \
-    --host=aarch64-none-linux-gnu \
+    --host=${HOSTARCH} \
     --build=x86_64-linux-gnu \
     --prefix=${TARGET_SYSROOT} \
     --disable-ipv6 \
@@ -152,6 +147,8 @@ RUN ./configure \
 
 # https://github.com/benfogle/crossenv
 # cross compile python packages 
+FROM ${CC_PLATFORM_IMAGE} AS python_pkg_builder
+
 WORKDIR /tmp
 
 COPY vendor/extract_wheels.sh /tmp/extract_wheels.sh
@@ -182,7 +179,7 @@ RUN pip download \
     psutil numpy==1.21.5
 
 RUN chmod +x /tmp/extract_wheels.sh && \
-    /tmp/extract_wheels.sh "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels
+    /tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /wheels
 
 FROM ${CC_PLATFORM_IMAGE} AS final
 
@@ -191,3 +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}