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I was going to suggest perhaps considering using any of the available Docker images to get going quickly, but I believe a Blue runs a 32bit Cortex A8, for which there are no images available.

For embedded systems and ROS (1 and 2), the recommendation is typically to take at least a look at using ros/meta-ros. That's OpenEmbedded based though, so a different workflow from using regular Debian apt-get install.

For cross-compiling ROS 2 itself, you could look at ros-tooling/cross_compile, which supports armhf. IIRC, that will use Qemu for non amd64/x86 hosts.

Another approach might be to look at micro-ROS. It's typically only thought of to target microcontrollers, but if I'm not mistaken regular (POSIX) Linux targets are supported as well, and it may provide a very simple and low overhead way to get you ROS 2 comms.

No launch capabilities though.

I was going to suggest perhaps considering using any of the available Docker images to get going quickly, but I believe a Blue runs a 32bit Cortex A8, for which there are no images available.available (only arm64 is supported).

For embedded systems and ROS (1 and 2), the recommendation is typically to take at least a look at using ros/meta-ros. That's OpenEmbedded based though, so a different workflow from using regular Debian apt-get install.

For cross-compiling ROS 2 itself, you could look at ros-tooling/cross_compile, which supports armhf. IIRC, that will use Qemu for non amd64/x86 hosts.

Another approach might be to look at micro-ROS. It's typically only thought of to target microcontrollers, but if I'm not mistaken regular (POSIX) Linux targets are supported as well, and it may provide a very simple and low overhead way to get you ROS 2 comms.

No launch capabilities though.