@rojkov Thanks for the hint. I did not know about ostro-os before. Seems fun. Hopefully I find some time to play around with it. I followed the discussion about the ROS2 meta layer. Has someone used it with an open source meta-layer already in general, not specific to the BeagleBone Black? (I am interested in the BeagleBone Black, RaspberryPi, etc. because it is easier to get people involved with these boards.)