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
@@ -61,3 +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

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

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 \
+# 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 \
+#     && 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
+#     && 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

@@ -1,14 +1,5 @@
-set(CMAKE_SYSTEM_NAME Linux)
+# include buildroot toolchain file
-set(CMAKE_SYSTEM_PROCESSOR aarch64)
+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
     $ENV{TARGET_SYSROOT}
@@ -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)
+# use buildroot sdk python3.11
-set(Python3_NumPy_INCLUDE_DIR $ENV{ROS_ROOT}/lib/python3.10/site-packages/numpy/core/include)
+set(Python3_EXECUTABLE /usr/bin/python3.10)
-
+# set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
 
+# 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=/opt/rk3576 colcon build \
+RUN colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -46,24 +48,7 @@ RUN MAKEFLAGS="-j6" ROS_ROOT=/opt/rk3576 colcon build \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=ON \
-    -DCV_BRIDGE_DISABLE_PYTHON=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
-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
@@ -81,7 +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" \
     && . ${TARGET_SYSROOT}/local_setup.sh \
@@ -108,4 +100,20 @@ ARG ROS_ROOT
 ENV ROS_ROOT=${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 ${CC_PLATFORM_IMAGE} AS pcl_vendor
@@ -84,7 +86,6 @@ RUN cd workspace \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_TOOLCHAIN_FILE=${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=${TARGET_SYSROOT}/lib" \
@@ -139,10 +134,9 @@ ENV CPPFLAGS="-I${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} \
-    --enable-shared \
     --disable-ipv6 \
     --enable-optimizations \
     --with-openssl=${TARGET_SYSROOT} \
@@ -153,6 +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
@@ -169,7 +165,7 @@ RUN pip download --no-deps -d /wheels \
     argcomplete \
     osrf-pycommon \
     typing-extensions \
-    psutil
+    rosdistro 
 
 # python packages with c extension
 RUN pip download \
@@ -180,15 +176,10 @@ 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 "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels
+    /tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /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
 
@@ -197,3 +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}