Thanks for your support on this ! Here some news of my progress: I'm almost done with the tutorial page. I add some general information about CMake and cross-compilation. I'm still thinking on the best way to upstream the cross-compilation related files. The last idea is to create a `ros2/crosscompile` repo, which will contains a package with the same name. This repo will come by default with a COLCON_IGNORE, allowing us to add it to the ros2.repos file. Native compilation will not be affected, and cross-compilation would be possible by simply removing this file. This approach allows us to add a script to generate the sysroot with colcon, before the other packages. Regarding the cross-compilation itself, I still have to ignore the following packages: > touch \ > ros2_ws/src/ros2/rviz/COLCON_IGNORE \ > ros2_ws/src/ros2/demos/intra_process_demo/COLCON_IGNORE \ > ros2_ws/src/ros2/demos/image_tools/COLCON_IGNORE \ > ros2_ws/src/ros2/robot_state_publisher/COLCON_IGNORE @Silvia, I think support for RTOS is a more complicate topics than just cross-compilation. You will probably find more info on this if you look for "embedded ROS2" topics, like this one https://discourse.ros.org/t/ros2-embedded-sig-meeting/6645 --- [Visit Topic](https://discourse.ros.org/t/ros2-cross-compilation/6834/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: