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 ROS2 Embedded SIG meeting #1