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Most ROS packages should work on ARM64. We already support 32 and 64bit x86 and most things work on armhf. So filling in the matrix is a minimal step forward.

You're right that the system dependencies are usually the limiting factor. I would expect at least up through desktop to work. With more arm64 boards coming out soon we expect to have more experience and demand for those system dependencies so hopefully they will all get filled in.