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ROS core toolset (like rosdep) utilizes OS detection functionality that a package called rospkg provides. Looks like yocto is not supported yet by rospkg. There was a PR that didn't get merged. You can suggest a support by opening a pull request to rospkg. I haven't found a tutorial for how to add a support for a new OS, but looking into the changes done in some previous PRs might help. I think the core of the change should be going to happen in os_detect.py.