I had a look at the different ros2_embedded_* variants a while back. IMHO [nuttx](
https://bitbucket.org/nuttx/nuttx/overview) seems much more promising compared to mbed(-OS) as it is POSIX compliant, not geared towards IoT, and even tries to be compatible with many Linux APIs. Different STM32 variants are well [supported by nuttx already](
https://bitbucket.org/nuttx/nuttx/src/d91cf5736e80b9a5b44bf6b8eb6be8a9cb6b0f8c/arch/arm/src/?at=master). However, you might need to create a board config for your eval board.
https://github.com/ros2/ros2_embedded_nuttx
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