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I'm not sure whether this can be of use, as all depends on the hardware you're using. Anyhows, there exists a software solution called micro-ROS aimed at bringing ROS 2 to embedded devices. It [supports Arduino])(https://github.com/micro-ROS/micro_ros_arduino) and, as you can see, the repo mainline is aligned with Foxy already. Hopefully this helps you!

I'm not sure whether this can be of use, as all depends on the hardware you're using. Anyhows, there exists a software solution called micro-ROS aimed at bringing ROS 2 to embedded devices. It [supports Arduino])(https://github.com/micro-ROS/micro_ros_arduino) supports Arduino and, as you can see, the repo mainline is aligned with Foxy already. Hopefully this helps you!