Fix ROS_ROOT variable and add RK3576 build instructions to README

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/ros2/lyrical/ros_lyrical.Dockerfile

@@ -32,7 +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" ROS_ROOT=/opt/rk3576 colcon build \
+RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -47,7 +47,6 @@ RUN MAKEFLAGS="-j6" ROS_ROOT=/opt/rk3576 colcon build \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=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

cross_compile/vendor/vendor_packages.Dockerfile

@@ -142,7 +142,6 @@ RUN ./configure \
     --host=aarch64-none-linux-gnu \
     --build=x86_64-linux-gnu \
     --prefix=${TARGET_SYSROOT} \
-    --enable-shared \
     --disable-ipv6 \
     --enable-optimizations \
     --with-openssl=${TARGET_SYSROOT} \
@@ -169,7 +168,7 @@ RUN pip download --no-deps -d /wheels \
     argcomplete \
     osrf-pycommon \
     typing-extensions \
-    psutil
+    rosdistro 
 
 # python packages with c extension
 RUN pip download \
@@ -180,16 +179,11 @@ RUN pip download \
     --abi cp310 \
     --platform manylinux2014_aarch64 \
     -d /wheels \
-    psutil
+    psutil numpy==1.21.5
 
 RUN chmod +x /tmp/extract_wheels.sh && \
     /tmp/extract_wheels.sh "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels
 
-RUN python3 -m pip install crossenv \
-    && python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
-    && . venv/bin/activate \
-    && pip -v install numpy==1.21.5 --prefix=${TARGET_SYSROOT}
-
 FROM ${CC_PLATFORM_IMAGE} AS final
 
 COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}