fix: add ld path in installer_base

docker/build/build_docker.sh

@@ -304,16 +304,16 @@ function parse_arguments() {
 }
 
 function print_usage() {
-    echo "Usage:"
-    echo "${TAB}$0 -f <Dockerfile> [options]"
-    echo "Options:"
-    echo "${TAB}-c,--clean        Disable Docker cache (--no-cache)"
-    echo "${TAB}-m,--mode         Apollo install mode (build | download). Default: ${INSTALL_MODE}"
-    echo "${TAB}-g,--geo          Geographical location (cn | us) for software sources. Default: ${TARGET_GEOLOC}"
-    echo "${TAB}-t,--timestamp    Specify a fixed timestamp for image tags (YYYYMMDD_HHMM). Default: current time"
-    echo "${TAB}-s,--no-squash    Do not squash Docker layers. Default: Squash layers"
-    echo "${TAB}--dry             Dry run only (print build commands without executing)"
-    echo "${TAB}-h,--help         Show this help message"
+  echo "Usage: $0 -f <Dockerfile> [options]"
+  echo "Options:"
+  echo "${TAB}-c,--clean        Disable Docker cache"
+  echo "${TAB}-m,--mode         Install mode (build|download), default: ${INSTALL_MODE}"
+  echo "${TAB}-g,--geo          Geo location (cn|us), default: ${TARGET_GEOLOC}"
+  echo "${TAB}-t,--timestamp    Image tag timestamp (YYYYMMDD_HHMM), default: now"
+  echo "${TAB}--dry             Dry run (show build commands only)"
+  echo "${TAB}-h,--help         Show this help"
+  echo
+  echo "Tip: To pre-download packages, use a local HTTP server (python3 -m http.server 8388)."
 }
 
 function main() {

docker/build/installers/install_libtorch.sh

@@ -119,6 +119,9 @@ function install_libtorch_cpp() {
   # Use mv instead of cp -r for better efficiency
   mv libtorch/* "${INSTALL_DIR}/"
 
+  # Add runtime library path
+  ensure_ld_path "${INSTALL_DIR}/lib"
+
   # Clean up downloaded files
   popd > /dev/null
   rm -rf "${DOWNLOAD_DIR}"

docker/build/installers/installer_base.sh

@@ -70,6 +70,27 @@ function source_date_epoch_setup() {
         || date -u "$DATE_FMT")
 }
 
+function ensure_ld_path() {
+    local lib_path="$1"
+    local target_file="${APOLLO_LD_FILE}"
+
+    if [ -z "$lib_path" ]; then
+        echo "Error: empty lib_path parameter"
+        return 1
+    fi
+
+    if [ ! -f "$target_file" ]; then
+        echo "$lib_path" >> "$target_file"
+        return 0
+    fi
+
+    if ! grep -Fxq "$lib_path" "$target_file"; then
+        echo "$lib_path" >> "$target_file"
+    else
+        echo "Path '$lib_path' is already present in $target_file"
+    fi
+}
+
 function apollo_environ_setup() {
     : "${SOURCE_DATE_EPOCH:=$(source_date_epoch_setup)}"
 
@@ -79,9 +100,10 @@ function apollo_environ_setup() {
     if [ ! -d "${SYSROOT_DIR}" ]; then
         mkdir -p ${SYSROOT_DIR}/{bin,include,lib,share}
     fi
-    if [ ! -f "${APOLLO_LD_FILE}" ]; then
-        echo "${SYSROOT_DIR}/lib" | tee -a "${APOLLO_LD_FILE}"
-    fi
+
+    # Add runtime library path
+    ensure_ld_path "${SYSROOT_DIR}/lib"
+
     if [ ! -f "${APOLLO_PROFILE}" ] && [ -f "/opt/apollo/rcfiles/apollo.sh.sample" ]; then
         cp -f /opt/apollo/rcfiles/apollo.sh.sample "${APOLLO_PROFILE}"
         echo "add_to_path ${SYSROOT_DIR}/bin" >> "${APOLLO_PROFILE}"

third_party/opencv/opencv.BUILD

@@ -1,56 +1,82 @@
-load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_cc//cc:defs.bzl", "cc_import", "cc_library")
 
-licenses(["notice"])
-
-package(default_visibility = ["//visibility:public"])
+# ---------- shared helper: headers ----------
+cc_library(
+    name = "opencv_headers",
+    hdrs = glob(["include/opencv4/opencv2/**/*.h"]),
+    includes = ["include/opencv4"],
+    visibility = ["//visibility:public"],
+)
 
-#TODO(storypku): split opencv into seperate components to speed up build
-# e.g., opencv_imgproc/opencv_highgui/...
+# ---------- core ----------
+cc_import(
+    name = "core_so",
+    shared_library = "lib/libopencv_core.so.4.4",
+    visibility = ["//visibility:public"],
+)
 
 cc_library(
     name = "core",
-    includes = ["."],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-lopencv_core",
+    deps = [
+      ":opencv_headers",
+      ":core_so"
     ],
+    linkstatic = False,
+    visibility = ["//visibility:public"],
 )
 
-cc_library(
-    name = "highgui",
-    includes = ["."],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-lopencv_highgui",
-    ],
-    # Note(storypku): dependency relation derived from ldd
-    deps = [
-        ":core",
-        ":imgproc",
-    ],
+# ---------- imgproc ----------
+cc_import(
+    name = "imgproc_so",
+    shared_library = "lib/libopencv_imgproc.so.4.4",
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
     name = "imgproc",
-    includes = ["."],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-lopencv_imgproc",
-    ],
     deps = [
-        ":core",
+      ":opencv_headers",
+      ":core",
+      ":imgproc_so"
     ],
+    linkstatic = False,
+    visibility = ["//visibility:public"],
+)
+
+# ---------- imgcodecs ----------
+cc_import(
+    name = "imgcodecs_so",
+    shared_library = "lib/libopencv_imgcodecs.so.4.4",
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
     name = "imgcodecs",
-    includes = ["."],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-lopencv_imgcodecs",
+    deps = [
+      ":opencv_headers",
+      ":core",
+      ":imgproc",
+      ":imgcodecs_so"
     ],
+    linkstatic = False,
+    visibility = ["//visibility:public"],
+)
+
+# ---------- highgui ----------
+cc_import(
+    name = "highgui_so",
+    shared_library = "lib/libopencv_highgui.so.4.4",
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "highgui",
     deps = [
+        ":opencv_headers",
         ":core",
         ":imgproc",
+        ":highgui_so",
     ],
+    linkstatic = False,
+    visibility = ["//visibility:public"],
 )

third_party/opencv/workspace.bzl

@@ -9,5 +9,5 @@ def repo():
     native.new_local_repository(
         name = "opencv",
         build_file = clean_dep("//third_party/opencv:opencv.BUILD"),
-        path = "/opt/apollo/sysroot/include/opencv4",
+        path = "/opt/apollo/sysroot",
     )

third_party/osqp/osqp.BUILD

@@ -1,17 +1,35 @@
-load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_cc//cc:defs.bzl", "cc_library", "cc_import")
 
-package(default_visibility = ["//visibility:public"])
+# TODO: Starting with Bazel 8.3, cc_import supports strip_include_prefix.
+# At that point we can collapse the current two-stage setup (headers cc_library + cc_import .so)
+# into one cc_import rule using:
+#   strip_include_prefix = "include"
+# or
+#   includes = ["include"]
+# to expose headers properly and simplify maintenance.
 
-licenses(["notice"])
 
+# 1. Header files
 cc_library(
-    name = "osqp",
-    include_prefix = "osqp",
-    includes = [
-        ".",
-    ],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-losqp",
-    ],
+  name = "osqp_headers",
+  hdrs = glob(["include/osqp/**/*.h"]),
+  includes = ["include"],
+  visibility = ["//visibility:public"],
+)
+
+# 2. Shared library
+cc_import(
+  name = "osqp_so",
+  shared_library = "lib/libosqp.so",    # Relative to new_local_repository.path
+  visibility = ["//visibility:public"],
+)
+
+# 3. Aggregate target
+cc_library(
+  name = "osqp",
+  deps = [
+    ":osqp_headers",
+    ":osqp_so"
+  ],
+  visibility = ["//visibility:public"],
 )

third_party/osqp/workspace.bzl

@@ -9,5 +9,5 @@ def repo():
     native.new_local_repository(
         name = "osqp",
         build_file = clean_dep("//third_party/osqp:osqp.BUILD"),
-        path = "/opt/apollo/sysroot/include",
+        path = "/opt/apollo/sysroot",
     )