视觉镜像适配arm

arm/image_handle/Dockerfile

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+FROM ros:humble
+
+# 定义参数
+ARG USERNAME=Elaina
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+USER root
+
+RUN apt-get update && apt-get install -y \
+    sudo \
+    vim \
+    nautilus \
+    v4l-utils \
+    git-lfs \
+    python3-pip \
+    libgl1-mesa-glx \
+    ros-humble-rmw-zenoh-cpp \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-cv-bridge \
+    libzbar0 \
+    && git lfs install --system \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+RUN pip3 install --no-cache-dir torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cpu
+
+RUN pip3 install --no-cache-dir \
+    imutils \
+    qrcode \
+    ultralytics \
+    openvino \
+    roslibpy \
+    pyzmq \
+    comet_ml \
+    open3d \
+    py-spy \
+    pyzbar \
+    "numpy<2.0" \
+    pyserial \
+    pyserial-asyncio
+
+ENV PYTHONPATH="/home/${USERNAME}/yolo:/home/${USERNAME}/yolo/cv_lib"
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /home/${USERNAME}/.bashrc \
+    && echo "export PATH=\$HOME/.local/bin:\$PATH" >> /home/${USERNAME}/.bashrc \
+    && mkdir -p /home/${USERNAME}/.config/fish \
+    && echo "set -gx PATH \$HOME/.local/bin \$PATH" >> /home/${USERNAME}/.config/fish/config.fish \
+    && chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}
+
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}

arm/image_handle/build.bash

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+#!/bin/bash
+
+# 获取脚本所在目录
+# 获取脚本所在目录的绝对路径
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+PARENT_DIR=$(dirname "$SCRIPT_DIR")
+
+echo "脚本目录: $SCRIPT_DIR"
+echo "父目录: $PARENT_DIR"
+
+# 设置默认 tag
+TAG="yolo-ros-arm"
+
+# 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
+IMAGE_REPO="elainasuki/rc2026"
+
+# 组合完整镜像名
+IMAGE="$IMAGE_REPO:$TAG"
+
+# 获取工作流中的环境变量来决定是否支持 arm64
+PLATFORMS="linux/arm64"  # 默认只支持 amd64 架构
+
+if [[ "${BUILD_ARM64}" == "true" ]]; then
+    PLATFORMS="$PLATFORMS,linux/arm64"   # 如果环境变量 BUILD_ARM64 为 true，则支持 arm64 架构
+fi
+# 这里用的是docker build .. content是上一级而不是当前目录
+# 如果传入 --github-action 参数
+if [[ "$1" == "--github-action" ]]; then
+    echo "构建并推送镜像: $IMAGE"
+    docker buildx build \
+    --platform $PLATFORMS \
+    -t "$IMAGE" \
+    -f "$SCRIPT_DIR/Dockerfile" \
+    --cache-from "type=registry,ref=$IMAGE" \
+    --cache-to type=inline \
+    "$SCRIPT_DIR" \
+    --push
+else
+    echo "本地构建 $IMAGE"
+    docker build -t "$IMAGE" -f "$SCRIPT_DIR/Dockerfile" "$SCRIPT_DIR"
+fi