x86架构实现多平台系统代码的编译，实现方式有多种：

1. 交叉编译：toolchain 【新的第三方库不好处理】
2. 隔离挂载的方式 【速度慢，文件系统会被干扰】
   3. QEMU 或其他模拟器来实际运行docker [推荐]

1. 交叉编译：toolchain

https://github.com/dockcross/dockcross.git

toolchain-aarch64.cmake

# DO NOT EDIT THIS FILE
#
# To set up cross-compilation, create the file
# $(ROS_ROOT)/rostoolchain.cmake.  It gets read first, prior to
# any of cmake's system tests.#############################################################
#
# An example for using the gumstix arm-linux toolchain is below.
# Copy these lines to $(ROS_ROOT)/rostoolchain.cmake to try them out.
#
#set(CMAKE_SYSTEM_NAME Linux)
#set(CMAKE_C_COMPILER /opt/arm-linux/bin/arm-linux-gcc)
#set(CMAKE_CXX_COMPILER /opt/arm-linux/bin/arm-linux-g++)
#set(CMAKE_FIND_ROOT_PATH /opt/arm-linux)
# Have to set this one to BOTH, to allow CMake to find rospack
#set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
#set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
#set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
#File rostoolchain.cmakeset(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm64)
set(CMAKE_SYSROOT /arm64)
set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
set(CMAKE_FIND_ROOT_PATH /opt/ros/melodic /arm64)set(CMAKE_LIBRARY_PATH /arm64/usr/lib/aarch64-linux-gnu /arm64/usr/lib /arm64/lib /arm64/usr/local/lib)set(CMAKE_INCLUDE_PATH /arm64/usr/include /arm64/usr/local/include)
set(LD_LIBRARY_PATH /arm64/usr/lib/aarch64-linux-gnu /arm64/usr/lib /arm64/lib /arm64/usr/local/lib)set(PYTHON_EXECUTABLE /usr/bin/python)
set(PCL_ROOT /arm64/usr)set(CMAKE_CROSSCOMPILING true)# Have to set this one to BOTH, to allow CMake to find rospackset(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)

catkin_make install  -DCMAKE_TOOLCHAIN_FILE=/xx/toolchain-aarch64.cmake -j4

2. 隔离挂载的方式：

ch-mount.sh -m arm64
ch-mount.sh -u arm64

拷贝arm64机器里面的对应库文件放x86电脑上去隔离

$ ls arm64/
Arm64Env  arm64_xc.gz  bin  boot  dev  etc  home  lib  lost+found  mnt  opt  proc  root  sbin  snap  srv  sys  system  tmp  usr  var

ch-mount.sh

#!/bin/bash
# 
function mnt() {echo "MOUNTING"sudo mount -t proc /proc ${2}/procsudo mount -t sysfs /sys ${2}/syssudo mount -o bind /dev ${2}/devsudo mount -o bind /dev/pts ${2}/dev/pts
#    sudo mount -o bind /run ${2}/run 
#    sudo mount -o bind /proc ${2}/proc
#    sudo mount -o bind /sys ${2}/syssudo chroot ${2}
}
function umnt() {echo "UNMOUNTING"sudo umount ${2}/procsudo umount ${2}/syssudo umount ${2}/dev/ptssudo umount ${2}/dev
#    sudo umount ${2}/run
}
if [ "$1" == "-m" ] && [ -n "$2" ] ;
thenmnt $1 $2
elif [ "$1" == "-u" ] && [ -n "$2" ];
thenumnt $1 $2
elseecho ""echo "Either 1'st, 2'nd or both parameters were missing"echo ""echo "1'st parameter can be one of these: -m(mount) OR -u(umount)"echo "2'nd parameter is the full path of rootfs directory(with trailing '/')"echo ""echo "For example: ch-mount -m /media/sdcard/"echo ""echo 1st parameter : ${1}echo 2nd parameter : ${2}
fi

3. QEMU 或其他模拟器来实际运行docker

如果您在 x86 电脑上运行的 Docker 镜像已经是针对 arm64 架构的（例如，使用 FROM arm64v8/ubuntu 作为基础镜像），则您不需要配置交叉编译。这是因为 Docker 镜像本身已经包含了针对 arm64 的库和工具。

在这种情况下，您可以在 Docker 镜像中直接编译 arm64 程序。但是，请注意，您可能需要在宿主机上配置 QEMU 或其他模拟器来实际运行在 x86 电脑上的 arm64 Docker 镜像。否则，您可能会遇到兼容性问题，因为您正在尝试在 x86 架构的宿主机上运行 arm64 代码。

在运行 arm64 Docker 镜像时，Docker 会自动设置 QEMU 来模拟 arm64 架构。确保您的宿主机上安装了 QEMU 并启用了对应的二进制格式支持，以便正确运行这些镜像。

安装QEMU和支持库：
sudo apt-get install qemu-user-static binfmt-support
将QEMU的ARM64静态二进制文件复制到Dockerfile的当前目录：cp /usr/bin/qemu-aarch64-static .
在Dockerfile中添加以下指令以包含QEMU二进制文件：
COPY qemu-aarch64-static /usr/bin/

要确保您的宿主机上安装了 QEMU 并启用了对应的二进制格式支持，请按照以下步骤操作：首先，安装 QEMU。在基于 Debian 的系统（如 Ubuntu）上，您可以使用以下命令进行安装：sudo apt-get update
sudo apt-get install qemu qemu-user-static binfmt-support
在基于 RHEL 的系统（如 CentOS、Fedora）上，您可以使用以下命令进行安装：sudo yum install qemu qemu-user-static
接下来，验证 QEMU 是否已安装：qemu-system-aarch64 --version
如果成功安装，您应该会看到 QEMU 版本信息。确认 binfmt-support 服务是否启用：sudo systemctl status binfmt-support
如果服务未启用，请使用以下命令启用并启动服务：sudo systemctl enable binfmt-support
sudo systemctl start binfmt-support
最后，确保您的系统已注册了 ARM64 架构的二进制格式支持。运行以下命令：cat /proc/sys/fs/binfmt_misc/qemu-aarch64
如果已启用支持，您应该会看到包含 "flags: F" 和 "interpreter /usr/bin/qemu-aarch64-static" 的输出。完成这些步骤后，您的宿主机应已准备好运行 ARM64 架构的 Docker 镜像。这意味着您可以在这些镜像中直接编译 ARM64 程序，而无需配置交叉编译。

Dockerfile.arm64_melodic

FROM arm64v8/ros:melodic-perceptionENV WS=/home/xx/yy
COPY start.sh /home/xx/yy/COPY qemu-aarch64-static /usr/bin/
COPY sources.list.arm /etc/apt/sources.list
COPY ros.asc      /etc/RUN apt-get install -y build-essentialRUN sh -c '. /etc/lsb-release && echo "deb http://mirrors.sjtug.sjtu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' && \apt-key add  /etc/ros.asc
#RUN apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE   
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys  7EA0A9C3F273FCD8
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys  C8B3A55A6F3EFCDE
RUN apt update 
RUN apt-get install -y ros-melodic-desktop-full
RUN apt-get install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools python3-vcstool
RUN apt-get install -y ros-melodic-ecl  libgoogle-glog-dev  libgflags-dev libbullet-dev libsdl2-dev zstd libsdl-image1.2-dev libsdl-dev  
RUN apt-get install -y ros-melodic-tf2-geometry-msgs ros-melodic-tf2-sensor-msgs ros-melodic-urdf  \ros-melodic-usb-cam ros-melodic-rgbd-launch ros-melodic-libuvc ros-melodic-libuvc-camera ros-melodic-libuvc-ros \ros-melodic-move-base-msgs ros-melodic-kobuki-msgs   libfcl-dev ros-melodic-bfl   ros-melodic-pcl-ros libpcl-dev  
RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak && \mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.hc.bak && \ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h && \ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.hRUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrcRUN apt-get install -y ros-melodic-qt-build libevent-dev  gcc g++ gfortran git cmake liblapack-dev pkg-config swig ipython python-dev python-numpy python-scipy python-matplotlib --install-recommendsRUN apt-get install -y tmux ros-melodic-dynamic-reconfigure   libzstd-devRUN apt-get install -y \clang \cmake \g++ \git \google-mock \libboost-all-dev \libcairo2-dev \libcurl4-openssl-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libsuitesparse-dev \lsb-release \ninja-build \stow 
RUN apt-get install -y      vim  net-tools git  sshRUN apt-get install -y  python-sphinx
RUN apt-get install -y  libceres-dev tarWORKDIR /home/xx/carto_libs
#git clone http://gitlab.csjbot.com/RenBot/abseil-cpp.git
#git clone http://gitlab.csjbot.com/RenBot/ceres-solver.git
#git clone http://gitlab.csjbot.com/RenBot/protobuf.git#ADD abseil-cpp.tar.gz    /home/xx/carto_libs/abseil-cpp.tar.gz
#ADD ceres-solver.tar.gz /home/xx/carto_libs/ceres-solver.tar.gz
#ADD protobuf.tar.gz    /home/xx/carto_libs/protobuf.tar.gzCOPY abseil-cpp.tar.gz    /home/xx/carto_libs/
COPY ceres-solver.tar.gz /home/xx/carto_libs/
COPY protobuf.tar.gz    /home/xx/carto_libs/WORKDIR /home/xx/carto_libs/
RUN tar -xzvf /home/xx/carto_libs/abseil-cpp.tar.gz abseil-cpp && \tar -xzvf /home/xx/carto_libs/ceres-solver.tar.gz && \tar -xzvf /home/xx/carto_libs/protobuf.tar.gzRUN echo "Start ceres"
WORKDIR /home/xx/carto_libs/ceres-solver
RUN cd  /home/xx/carto_libs/abseil-cpp && \#git checkout tags/carto  && \mkdir -p build  && \cd build  && \cmake ..  -DCXX11=ON && \make -j16 && \make install  >> ../install.info && \echo "Finish ceres"RUN echo "Start abseil"
WORKDIR /home/xx/carto_libs/abseil-cpp/
#RUN cd abseil-cpp
RUN cd  /home/xx/carto_libs/abseil-cpp && \#git checkout tags/carto  && \mkdir -p build  && \cd build  && \cmake  -DCMAKE_BUILD_TYPE=Release  -DCXX11=ON  -DCMAKE_POSITION_INDEPENDENT_CODE=ON   -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl   ..  && \make  -j12 && \make install >> ../install.info
RUN cd /usr/local/stow && \stow --replace absl && \echo "Finish abseil"WORKDIR /home/xx/carto_libs
RUN echo "Start protobuf"
RUN cd  /home/xx/carto_libs/protobuf && \#git checkout tags/carto  && \mkdir -p build  && \cd build  && \cmake  -DCMAKE_POSITION_INDEPENDENT_CODE=ON   -DCMAKE_BUILD_TYPE=Release   -Dprotobuf_BUILD_TESTS=OFF   ../cmake   && \make -j12  && \sudo make install  >> ../install.info  && \echo "Finish protobuf"RUN echo "export DISABLE_AUTO_TITLE=true" >> ~/.bashrc
RUN echo 'LC_NUMERIC="en_US.UTF-8"' >> ~/.bashrc
RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
RUN echo 'alias cinstall="catkin_make install -j12"' >> ~/.bashrc
RUN echo 'alias cbuild="catkin_make -j12"' >> ~/.bashrcRUN echo "bashrc"
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/xx/.bashrc
RUN echo "source /home/xx/yy/install/setup.bash" >> /home/xx/.bashrc
RUN echo "source /home/xx/yy/install/setup.bash" >> ~/.bashrc
RUN pwd
WORKDIR $WSCMD ["bash","-c","/home/xx/yy/start.sh"]