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

.github/workflows/build-images.yaml

@@ -34,22 +34,46 @@ jobs:
         run: |
           echo "PLATFORM=$PLATFORM"
           echo "ROS_DISTRO=$ROS_DISTRO"
+          NPROC=$(nproc)
+          BUILD_JOBS=$(( NPROC / 2 > 0 ? NPROC / 2 : 1 ))
+          echo "BUILD_JOBS=$BUILD_JOBS" >> $GITHUB_ENV
+          
+      # ── Stage 0: Download Buildroot SDK ────────────────────────────────
+      - name: Download Buildroot SDK
+        env:
+          GITEA_TOKEN: ${{ secrets.ERIC_TOKEN }}
+        run: |
+          echo "token length: ${#GITEA_TOKEN}"
+          cd cross_compile/${PLATFORM}
+          SDK_URL="http://gitea:3000/api/packages/xixing-tech/generic/${PLATFORM}-buildroot-sdk/1.0.0/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz"
+          curl --fail -u "EricXZ:${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: Build cc-base
-        run: docker compose -f cross_compile/compose.yaml build cc-base
+        run: |
+          cd cross_compile
+          docker compose build cc-base
 
       # ── Stage 2: cc-toolchain ─────────────────────────────────────────
       - name: Build cc-toolchain
-        run: docker compose -f cross_compile/compose.yaml build cc-toolchain
+        run: |
+          cd cross_compile
+          docker compose build cc-toolchain
 
       # ── Stage 3: vendor-packages ──────────────────────────────────────
       - name: Build vendor-packages
-        run: docker compose -f cross_compile/compose.yaml build vendor-packages
+        run: |
+          cd cross_compile
+          docker compose build vendor-packages
 
       # ── Stage 4: ros2 ─────────────────────────────────────────────────
       - name: Build ROS 2
-        run: docker compose -f cross_compile/compose.yaml build ros2
+        run: |
+          cd cross_compile
+          docker compose build ros2
 
       # ── Summary ───────────────────────────────────────────────────────
       - name: Image summary
@@ -60,4 +84,22 @@ jobs:
             --filter "reference=cc-*" \
             --filter "reference=*/cc-*" \
             --format "| \`{{.Repository}}:{{.Tag}}\` | {{.Size}} |" \
-            >> $GITHUB_STEP_SUMMARY
+            >> $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

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -23,7 +23,7 @@ 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/
+# COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
 
 # apply patch
 RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
@@ -34,7 +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" colcon build \
+RUN colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -55,8 +55,6 @@ ARG ROS_ROOT
 ENV ROS_ROOT=${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"  \

cross_compile/vendor/vendor_packages.Dockerfile

@@ -76,7 +76,7 @@ COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor
 COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
 RUN cd workspace \
-    && MAKEFLAGS="-j6" colcon build \
+    && colcon build \
     --install-base ${TARGET_SYSROOT} \
     --merge-install \
     --packages-up-to pcl_vendor \