diff --git a/meta-ros2-galactic/classes/ros_distro_galactic.bbclass b/meta-ros2-galactic/classes/ros_distro_galactic.bbclass
new file mode 100644
index 00000000000..431777ff6a2
--- /dev/null
+++ b/meta-ros2-galactic/classes/ros_distro_galactic.bbclass
@@ -0,0 +1,7 @@
+# Every ROS recipe, generated or not, must contain "inherit ros_distro_${ROS_DISTRO}".
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_DISTRO = "galactic"
+
+inherit ${ROS_DISTRO_TYPE}_distro
diff --git a/meta-ros2-galactic/conf/layer.conf b/meta-ros2-galactic/conf/layer.conf
new file mode 100644
index 00000000000..52ee33c468b
--- /dev/null
+++ b/meta-ros2-galactic/conf/layer.conf
@@ -0,0 +1,26 @@
+# We have a conf and classes directory, append to BBPATH
+BBPATH .= ":${LAYERDIR}"
+
+# We have a recipes directory, add to BBFILES
+BBFILES += "${LAYERDIR}/recipes-*/*/*.bb ${LAYERDIR}/recipes-*/*/*.bbappend ${LAYERDIR}/generated-recipes/*/*.bb"
+
+BBFILE_COLLECTIONS += "ros2-galactic-layer"
+BBFILE_PATTERN_ros2-galactic-layer := "^${LAYERDIR}/"
+BBFILE_PRIORITY_ros2-galactic-layer = "12"
+
+# Version 1 was the manually created meta-ros, prior to the introduction of superflore.
+# Version 2 was all ROS distributions in the same meta-ros layer with right subdirectories selected by ROS_DISTRO variable
+# Version 3 is with each ROS distribution in separate sublayer of meta-ros git repository (with modifications to generated recipes applied in .bbappends instead of .inc files)
+LAYERVERSION_ros2-galactic-layer = "3"
+
+LAYERDEPENDS_ros2-galactic-layer = " \
+    core \
+    meta-python \
+    openembedded-layer \
+    ros-common-layer \
+    ros2-layer \
+"
+
+LAYERSERIES_COMPAT_ros2-galactic-layer = "${ROS_OE_RELEASE_SERIES}"
+
+require conf/ros-distro/include/galactic/ros-distro.inc
diff --git a/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc
new file mode 100644
index 00000000000..09579aa1136
--- /dev/null
+++ b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc
@@ -0,0 +1,6 @@
+# galactic/ros-distro-preferred-providers.inc
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# Set PREFERRED_PROVIDER_<PN> here for non-platform packages and to override those set in
+# ros-distro-platform-preferred-providers.inc .
diff --git a/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc
new file mode 100644
index 00000000000..f679fca5c3f
--- /dev/null
+++ b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc
@@ -0,0 +1,6 @@
+# galactic/ros-distro-preferred-versions.inc
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# Set PREFERRED_VERSION_<PN> here for non-platform packages for which the layers provide multiple versions and to override those
+# set in ros-distro-platform-preferred-versions.inc .
diff --git a/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-recipe-blacklist.inc b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-recipe-blacklist.inc
new file mode 100644
index 00000000000..0d6aba56896
--- /dev/null
+++ b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-recipe-blacklist.inc
@@ -0,0 +1,104 @@
+# foxy/ros-distro-recipe-blacklist.inc
+#
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+PNBLACKLIST[ament-clang-format-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on clang-format', '', d)}"
+PNBLACKLIST[ament-clang-format] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on clang-format', '', d)}"
+PNBLACKLIST[ament-clang-tidy-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on clang-tidy', '', d)}"
+PNBLACKLIST[ament-clang-tidy] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on clang-tidy', '', d)}"
+PNBLACKLIST[ament-cmake-clang-format] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on ament-clang-format-native->clang-format', '', d)}"
+PNBLACKLIST[ament-cmake-clang-tidy] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', 'clang: depends on ament-clang-tidy-native->clang-tidy', '', d)}"
+PNBLACKLIST[connext-cmake-module-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds-native which is not available', '', d)}"
+PNBLACKLIST[connext-cmake-module] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[control-box-rst] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'coinor-libipopt', 'Depends on unavailable ROS_UNRESOLVED_DEP-coinor-libipopt-dev', '', d)}"
+PNBLACKLIST[desktop] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'opengl', 'x11'], 'qt5: rdepends on rviz2, rviz-default-plugins, rqt-common-plugins which rdepends on rqt-image-view which depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on qtbase; pyqt5: rdepends on rqt-common-plugins which rdepends on rqt-image-view which depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on python3-pyqt5 which requires pyqt5; opengl: rdepends on rviz2, rviz-default-plugins which depend on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on rviz2, rviz-default-plugins which depend on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[gazebo-plugins] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', 'gazebo: depends on gazebo-rosdev->gazebo which is not available', '', d)}"
+PNBLACKLIST[gazebo-ros-pkgs] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', 'gazebo: depends on gazebo-rosdev->gazebo which is not available', '', d)}"
+PNBLACKLIST[gazebo-ros] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', 'gazebo: depends on gazebo-rosdev->gazebo which is not available', '', d)}"
+PNBLACKLIST[gazebo-rosdev] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', 'gazebo: depends on gazebo which is not available', '', d)}"
+PNBLACKLIST[gurumdds-cmake-module] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gurumdds', 'gurumdds: depends on gurumdds-2.6 which is not available', '', d)}"
+PNBLACKLIST[joint-state-publisher-gui] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on python-qt-binding which depends on qtbase; pyqt5: depends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[launch-testing-ament-cmake] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'launch', 'launch: depends on launch-testing-native->launch-native', '', d)}"
+PNBLACKLIST[launch-testing-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'launch', 'launch: depends on launch-native', '', d)}"
+PNBLACKLIST[libg2o] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'x11'], 'opengl: depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on libglu which requires x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[librealsense2] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'glfw'], 'opengl: depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; glfw: depends on librealsense2 which depends on glfw which is available only in dunfell and requires x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[mrpt2] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['ffmpeg', 'x264', 'x11'], 'ffmpeg: Depends on ffmpeg which requires commercial license; x264: Depends on ffmpeg which depends on x264 which requires commercial license; x11: Depends on libxxf86vm, freeglut, libxrandr, wxwidgets, glfw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[packagegroup-ros-turtlebot3-core] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'turtlebot3', 'turtlebot3: rdepends on turtlebot3-bringup,hls-lfcd-lds-driver,turtlebot3-msgs,ros-base which were not ported to foxy yet', '', d)}"
+PNBLACKLIST[packagegroup-ros-turtlebot3-extended] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'turtlebot3', 'turtlebot3: rdepends on slam-karto, compressed-image-transport, depthimage-to-laserscan turtlebot3-applications-msgs, turtlebot3-autorace, cartographer-ros, turtlebot3, turtlebot3-applications which were not ported to foxy yet', '', d)}"
+PNBLACKLIST[python-qt-binding] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qtbase; pyqt5: depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[qt-dotgraph] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on python-qt-binding which depends on qtbase which requires meta-qt5 to be included; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[qt-gui-app] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on qt-gui which depends on qtbase which requires meta-qt5 to be included; pyqt5: rdepends on qt-gui which depends on python-qt-binding which requires pyqt5', '', d)}"
+PNBLACKLIST[qt-gui-core] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'qt-gui-cpp'], 'qt5: depends on qt-gui which depends on qtbase which requires meta-qt5 to be included; pyqt5: depends on python-qt-binding which requires pyqt5; qt-gui-cpp: depends on qt-gui-cpp which fails to compile', '', d)}"
+PNBLACKLIST[qt-gui-cpp] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'qt-gui-cpp'], 'qt5: depends on qtbase which requires meta-qt5 to be included; pyqt5: depends on python-qt-binding which requires pyqt5; qt-gui-cpp: pyqt5; qt-gui-cpp: do_compile task fails: requires pyqt5-native for sip', '', d)}"
+PNBLACKLIST[qt-gui-py-common] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on python-qt-binding which depends on qtbase which requires meta-qt5 to be included; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[qt-gui] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qtbase; pyqt5: depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[realsense-examples] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'glfw'], 'opengl: depends on librealsense2 which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; glfw: depends on librealsense2 which depends on glfw which is available only in dunfell and requires x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[realsense-node] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'glfw'], 'opengl: rdepends on realsense-ros which depends on librealsense2 which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; glfw: depends on librealsense2 which depends on glfw which is available only in dunfell and requires x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[realsense-ros] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'glfw'], 'opengl: depends on librealsense2 which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; glfw: depends on librealsense2 which depends on glfw which is available only in dunfell and requires x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rmw-connext-cpp] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[rmw-connext-shared-cpp] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[rmw-connextdds-common] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[rmw-connextdds] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[rmw-gurumdds-cpp] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gurumdds', 'gurumdds: depends on gurumdds-2.6 which is not available', '', d)}"
+PNBLACKLIST[rmw-gurumdds-shared-cpp] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gurumdds', 'gurumdds: depends on gurumdds-2.6 which is not available', '', d)}"
+PNBLACKLIST[ros-image-turtlebot3-all] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'turtlebot3', 'turtlebot3: Rdepends on packagegroup-ros-turtlebot3-core, packagegroup-ros-turtlebot3-extended which rdepend turtlebot3-bringup,hls-lfcd-lds-driver,turtlebot3-msgs,ros-base,slam-karto, compressed-image-transport, depthimage-to-laserscan turtlebot3-applications-msgs, turtlebot3-autorace, cartographer-ros, turtlebot3, turtlebot3-applications which were not ported to foxy yet', '', d)}"
+PNBLACKLIST[ros-image-turtlebot3-core] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'turtlebot3', 'turtlebot3: Rdepends on packagegroup-ros-turtlebot3-core, packagegroup-ros-turtlebot3-extended which rdepend turtlebot3-bringup,hls-lfcd-lds-driver,turtlebot3-msgs,ros-base,slam-karto, compressed-image-transport, depthimage-to-laserscan turtlebot3-applications-msgs, turtlebot3-autorace, cartographer-ros, turtlebot3, turtlebot3-applications which were not ported to foxy yet', '', d)}"
+PNBLACKLIST[ros-testing] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'launch', 'launch: depends on launch-testing-ament-cmake->launch-testing-native->launch-native', '', d)}"
+PNBLACKLIST[ros2test-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'launch', 'launch: depends on launch-testing-ros-native->launch-testing-native->osrf-pycommon-native->launch-native', '', d)}"
+PNBLACKLIST[ros2trace-analysis] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'babeltrace-python', 'babeltrace-python: depends on tracetools-analysis which rdepends on tracetools-read which rdepends on ROS_UNRESOLVED_DEP-python3-babeltrace and python bindings in babeltrace are not enabled as shown in log.do_configure - configure: You may configure with --enable-python-bindings if you want Python bindings.', '', d)}"
+PNBLACKLIST[rosbag2-bag-v2-plugins] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'ros1', 'ros1: since https://github.com/ros2/rosbag2_bag_v2/commit/ef48a3ef8a8753b3005862a7c437ff19d70e1745 requires roscpp ROS1 package to be available during do_configure', '', d)}"
+PNBLACKLIST[rosidl-typesupport-connext-c] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on (rosidl-typesupport-connext-cpp-native,connext-cmake-module-native)->rti-connext-dds-native which is not available', '', d)}"
+PNBLACKLIST[rosidl-typesupport-connext-cpp-native] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds-native which is not available', '', d)}"
+PNBLACKLIST[rosidl-typesupport-connext-cpp] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds-native which is not available', '', d)}"
+PNBLACKLIST[rqt-action] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui-py which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-bag-plugins] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-bag] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-common-plugins] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-image-view which depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on qtbase; pyqt5: rdepends on rqt-image-view which depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-console] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-graph] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-gui-cpp] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'qt-gui-cpp'], 'qt5: depends on qt-gui-cpp and qtbase itself which requires meta-qt5 to be included; pyqt5: depends on qt-gui-cpp which depends python-qt-binding which requires pyqt5; qt-gui-cpp: pyqt5; qt-gui-cpp: depends on qt-gui-cpp which fails to compile', '', d)}"
+PNBLACKLIST[rqt-gui-py] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qt-gui which depends on qtbase; pyqt5: depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-gui] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qt-gui which depends on qtbase; pyqt5: depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-image-view] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on qtbase; pyqt5: depends on qt-gui-cpp, rqt-gui, rqt-gui-cpp which depend on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-moveit] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-msg] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-plot] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-publisher] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-py-common] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-py-console] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-reconfigure] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding and rqt-gui-py which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-robot-monitor] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui,rqt-gui-py,qt-gui-py-common which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui,rqt-gui-py,qt-gui-py-common which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-robot-steering] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-service-caller] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-gui-py which depends on qt-gui which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-shell] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on qt-gui and rqt-gui-py which depends on qtbase which requires meta-qt5 to be included; pyqt5: rdepends on qt-gui which depends on python-qt-binding which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-srv] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on rqt-msg which rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-top] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt-topic] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], 'qt5: rdepends on rqt-gui-py which depends qt-gui which depends on qtbase; pyqt5: rdepends on python-qt-binding and rqt-gui-py which depends on python3-pyqt5 which requires pyqt5', '', d)}"
+PNBLACKLIST[rqt] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'qt-gui-cpp'], 'qt5: depends on qt-gui which depends on qtbase which requires meta-qt5 to be included; pyqt5: depends on rqt-gui-cpp which depends on qt-gui-cpp which depends python-qt-binding which requires pyqt5; qt-gui-cpp: pyqt5; qt-gui-cpp: depends on rqt-gui-cpp which depends depends on qt-gui-cpp which fails to compile', '', d)}"
+PNBLACKLIST[rti-connext-dds-cmake-module] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'connext: depends on rti-connext-dds which is not available', '', d)}"
+PNBLACKLIST[rviz-common] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz-default-plugins] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz-ogre-vendor] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['opengl', 'x11'], 'opengl: depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz-rendering-tests] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz-rendering] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz-visual-testing-framework] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[rviz2] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: depends on qtbase; opengl: depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[sdformat-urdf] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'sdformat', 'sdformat: depends on unavailable sdformat"
+PNBLACKLIST[spacenav] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'libspnav', 'Depends on unavailable ROS_UNRESOLVED_DEP-libspnav-dev', '', d)}"
+PNBLACKLIST[tracetools-analysis] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'babeltrace-python', 'babeltrace-python: rdepends on tracetools-read which rdepends on ROS_UNRESOLVED_DEP-python3-babeltrace and python bindings in babeltrace are not enabled as shown in log.do_configure - configure: You may configure with --enable-python-bindings if you want Python bindings.', '', d)}"
+PNBLACKLIST[tracetools-read] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'babeltrace-python', 'babeltrace-python: rdepends on ROS_UNRESOLVED_DEP-python3-babeltrace and python bindings in babeltrace are not enabled as shown in log.do_configure - configure: You may configure with --enable-python-bindings if you want Python bindings.', '', d)}"
+PNBLACKLIST[turtlesim] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'qt5-widgets'], 'qt5: depends on qtbase; qt5-widgets: needs widgets enabled in qtbase PACKAGECONFIG', '', d)}"
+PNBLACKLIST[webots-ros2-abb] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-core] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-demos] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11', 'webots-python-modules'], 'qt5: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on qtbase; opengl: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES; webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-desktop] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11', 'webots-python-modules'], 'qt5: rdepends on webots-ros2 which rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on qtbase; opengl: rdepends on webots-ros2 which rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on webots-ros2 which rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES; webots-python-modules: rdepends on webots-ros2 which rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet and webots-ros2-importer which requires python3-collada-pip, urdf2webots-pip which are not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-epuck] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: rdepends on rviz2 which depends on qtbase; opengl: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[webots-ros2-examples] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-importer] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: requires python3-collada-pip, urdf2webots-pip which are not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-tesla] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-tiago] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: rdepends on rviz2 which depends on qtbase; opengl: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[webots-ros2-turtlebot] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-tutorials] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', 'webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet', '', d)}"
+PNBLACKLIST[webots-ros2-universal-robot] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11'], 'qt5: rdepends on rviz2 which depends on qtbase; opengl: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[webots-ros2] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'opengl', 'x11', 'webots-python-modules'], 'qt5: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on qtbase; opengl: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on mesa which is not available because of missing opengl or vulkan in DISTRO_FEATURES; x11: rdepends on webots-ros2-universal-robot,webots-ros2-tiago which rdepends on rviz2 which depends on rviz-rendering which depends on rviz-ogre-vendor which depends on libx11,libxrandr,libxaw which require x11 in DISTRO_FEATURES; webots-python-modules: rdepends on webots-ros2-core which requires python-transforms3d-pip which is not available in OE yet and webots-ros2-importer which requires python3-collada-pip, urdf2webots-pip which are not available in OE yet', '', d)}"
+PNBLACKLIST[wiimote] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'cwiid', 'Depends on unavailable ROS_UNRESOLVED_DEP-cwiid-dev', '', d)}"
diff --git a/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro.inc b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro.inc
new file mode 100644
index 00000000000..1f5a8d037e3
--- /dev/null
+++ b/meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro.inc
@@ -0,0 +1,118 @@
+# galactic/ros-distro.inc
+# General configuration settings that are dependent on ROS_DISTRO.
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_DISTRO_CODENAME = "Galactic Geochelone"
+
+ROS2_DISTRO = "galactic"
+
+# The platform release that the metadata for this ROS distro targets. This determines the versions of the platform packages that
+# OE must provide. It must be one of the values of ROS_DISTRO_RELEASE_PLATFORMS (which is set in
+# generated/superflore-ros-distro.inc).
+ROS_DISTRO_BASELINE_PLATFORM = "ubuntu-focal"
+
+require conf/ros-distro/include/galactic/generated/superflore-datetime.inc
+require conf/ros-distro/include/galactic/generated/superflore-ros-distro.inc
+require conf/ros-distro/include/galactic/ros-distro-recipe-blacklist.inc
+require conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc
+require conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc
+
+# Override settings from generated/superflore-ros-distro.inc here.
+
+# Since superflore doesn't know when it's generating a recipe that it will be for a build tool, it can't know that what's in
+# ROS_EXEC_DEPEND are also build tools. Manually add them here.
+ROS_SUPERFLORE_GENERATED_BUILDTOOLS += " \
+    ament-lint-native \
+    cyclonedds-native \
+    domain-coordinator-native \
+    foonathan-memory-vendor-native \
+    iceoryx-binding-c-native \
+    iceoryx-posh-native \
+    iceoryx-utils-native \
+    rcutils-native \
+    rcpputils-native \
+    rmw-dds-common-native \
+    rmw-fastrtps-cpp-native \
+    rmw-fastrtps-shared-cpp-native \
+    rmw-native \
+    rosidl-adapter-native \
+    rosidl-cli-native \
+    rosidl-default-runtime-native \
+    rosidl-parser-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rpyutils-native \
+    uncrustify-vendor-native \
+"
+
+# this needs google-benchmark-vendor-native but we probably don't need native version
+ROS_SUPERFLORE_GENERATED_BUILDTOOLS_remove = "ament-cmake-google-benchmark-native"
+
+# alternative not yet supported implementation for fastrtps
+ROS_WORLD_SKIP_GROUPS += "connext"
+# alternative not yet supported implementation for fastrtps
+ROS_WORLD_SKIP_GROUPS += "opensplice"
+# alternative not yet supported implementation for fastrtps, there is no recipe for gurumdds-2.6
+ROS_WORLD_SKIP_GROUPS += "gurumdds"
+# Can't build these until we figure out how to build clang-format, clang-tidy without building all of clang.
+ROS_WORLD_SKIP_GROUPS += "clang"
+# recipes depending on turtlebot3 specific recipes which weren't ported to eloquent yet
+ROS_WORLD_SKIP_GROUPS += "turtlebot3"
+# recipes depending on coinor-libipopt
+ROS_WORLD_SKIP_GROUPS += "coinor-libipopt"
+# Needs work to launch qemu to run tests on image on build machine.
+ROS_WORLD_SKIP_GROUPS += "launch"
+# recipes depending on ROS_UNRESOLVED_DEP-python3-babeltrace which cannot be just
+# set to babeltrace, because python bindings in babeltrace are not enabled as shown in log.do_configure:
+# configure: You may configure with --enable-python-bindings if you want Python bindings.
+ROS_WORLD_SKIP_GROUPS += "babeltrace-python"
+# recipes depends on cwiid
+ROS_WORLD_SKIP_GROUPS += "cwiid"
+# recipes depends on libspnav
+ROS_WORLD_SKIP_GROUPS += "libspnav"
+
+# recipes depending on 'x11' in DISTRO_FEATURES
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'x11', d)}"
+# recipes depending on 'opengl' in DISTRO_FEATURES
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'opengl', '', 'opengl', d)}"
+# recipes depending on 'ffmpeg' which is restricted by 'commercial' LICENSE_FLAG
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'ffmpeg', 'commercial_ffmpeg'], '', 'ffmpeg', d)}"
+# recipes depending on 'x264' (ffmpeg does depend on it by default as well) which is restricted by 'commercial' LICENSE_FLAG
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'x264', 'commercial_x264'], '', 'x264', d)}"
+# There is recipe for glfw in meta-oe in dunfell, but it still needs x11 in DISTRO_FEATURES
+# use that in dunfell and blacklist explicitly in older releases
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'glfw', d)}"
+
+# webots recipes depending on unavailable python moules like:
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python-transforms3d-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-core_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-urdf2webots-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python3-collada-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+ROS_WORLD_SKIP_GROUPS += "webots-python-modules"
+
+# ERROR: Nothing PROVIDES 'ROS_UNRESOLVED_DEP-sdformat' (but /jenkins/mjansa/build/ros/webos-galactic-hardknott/meta-ros/meta-ros2-galactic/generated-recipes/sdformat-urdf/sdformat-urdf_0.1.0-1.bb DEPENDS on or otherwise requires it)
+ROS_WORLD_SKIP_GROUPS += "sdformat"
+
+# recipes depending on gazebo, for which there is no OE recipe
+ROS_WORLD_SKIP_GROUPS += "gazebo"
+
+# recipes depending on ros1
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'ros1-layer', '', 'ros1', d)}"
+
+# recipes depending on something from meta-qt5 layer
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'qt5-layer', '', 'qt5', d)}"
+
+# do_compile failures
+ROS_WORLD_SKIP_GROUPS += " \
+    qt-gui-cpp \
+"
+
+# Must use a _pn- override in this file to override the ROS_BUILD_TYPE of a generated recipe,
+# because we need to set this variable before the "inherit" line in the recipe is parsed,
+# and having it in a .bbappend sets it too late.
+# We want ament_cmake instead of plain cmake for ros-workspace:
+# https://raw.github.com/ros2-gbp/ros_workspace-release/release/galactic/ros_workspace/1.0.1-2/package.xml
+ROS_BUILD_TYPE_pn-ros-workspace = "ament_cmake"
+
+# Used by generated-recipes/cyclonedds/cyclonedds_0.6.0-3.bb
+ROS_UNRESOLVED_DEP-java-native = ""
+ROS_UNRESOLVED_DEP-maven-native = ""
diff --git a/meta-ros2-galactic/recipes-bbappends/apriltag/apriltag_%.bbappend b/meta-ros2-galactic/recipes-bbappends/apriltag/apriltag_%.bbappend
new file mode 100644
index 00000000000..fbec724e980
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/apriltag/apriltag_%.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/async-web-server-cpp/async-web-server-cpp_2.0.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/async-web-server-cpp/async-web-server-cpp_2.0.0-1.bbappend
new file mode 100644
index 00000000000..c004545df44
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/async-web-server-cpp/async-web-server-cpp_2.0.0-1.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# ERROR: async-web-server-cpp-2.0.0-1-r0 do_package_qa: QA Issue:
+# non -dev/-dbg/nativesdk- package contains symlink .so: async-web-server-cpp path '/work/raspberrypi4-webos-linux-gnueabi/async-web-server-cpp/2.0.0-1-r0/packages-split/async-web-server-cpp/usr/lib/libasync_web_server_cpp.so' [dev-so]
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/behaviortree-cpp/behaviortree-cpp-v3_3.5.6-1.bbappend b/meta-ros2-galactic/recipes-bbappends/behaviortree-cpp/behaviortree-cpp-v3_3.5.6-1.bbappend
new file mode 100644
index 00000000000..9d5f5a70573
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/behaviortree-cpp/behaviortree-cpp-v3_3.5.6-1.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    ament-cmake-gtest \
+    cppzmq \
+"
+
+FILES_${PN}-dev += "${libdir}/BehaviorTreeV3/cmake"
diff --git a/meta-ros2-galactic/recipes-bbappends/bond-core/bond_3.0.1-3.bbappend b/meta-ros2-galactic/recipes-bbappends/bond-core/bond_3.0.1-3.bbappend
new file mode 100644
index 00000000000..25167061464
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/bond-core/bond_3.0.1-3.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/bond-core/test-bond_3.0.1-3.bbappend b/meta-ros2-galactic/recipes-bbappends/bond-core/test-bond_3.0.1-3.bbappend
new file mode 100644
index 00000000000..25167061464
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/bond-core/test-bond_3.0.1-3.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros-msgs_1.0.9003-3.bbappend b/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros-msgs_1.0.9003-3.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros-msgs_1.0.9003-3.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros_1.0.9003-3.bbappend b/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros_1.0.9003-3.bbappend
new file mode 100644
index 00000000000..17050f90238
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros_1.0.9003-3.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+DEPENDS += "eigen3-cmake-module"
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-CMakeLists.txt-link-with-dl.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-CMakeLists.txt-link-with-dl.patch
new file mode 100644
index 00000000000..c777c34ee41
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-CMakeLists.txt-link-with-dl.patch
@@ -0,0 +1,43 @@
+From 60167d74d788f308ba3c23fa8b72ea7028d840bc Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 15 May 2020 05:55:56 -0700
+Subject: [PATCH] CMakeLists.txt: link with dl
+
+* fixes:
+FAILED: cartographer.mapping.internal.motion_filter_test
+: && /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native/usr/bin/arm-webos-linux-gnueabi/arm-webos-linux-gnueabi-g++  -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot -fuse-ld=gold -DNDEBUG  -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot -fuse-ld=gold -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -fstack-protector-strong -Wl,-z,relro,-z,now -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -fstack-protector-strong -Wl,-z,relro,-z,now   -rdynamic CMakeFiles/cartographer.mapping.internal.motion_filter_test.dir/cartographer/mapping/internal/motion_filter_test.cc.o  -o cartographer.mapping.internal.motion_filter_test  libcartographer.a  -Wl,-Bstatic  -lgmock_main  -lgmock  -lgtest  -Wl,-Bdynamic  -lpthread  libcartographer_test_library.a  libcartographer.a  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libceres.a  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5  -lunwind  -lunwind-arm  -lspqr  -lcholmod  -lccolamd  -lcamd  -lcolamd  -lamd  -llapack  -lblas  -lsuitesparseconfig  -lrt  -lmetis  -lcxsparse  -llapack  -lblas  -lsuitesparseconfig  -lrt  -lmetis  -lcxsparse  -lgomp  -lpthread  -Wl,-Bstatic  -llua  -Wl,-Bdynamic  -lm  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libboost_iostreams.so.1.72.0  -lglog  -lgflags  -lcairo  -lprotobuf  -lpthread && :
+loadlib.c:134: error: undefined reference to 'dlsym'
+loadlib.c:127: error: undefined reference to 'dlopen'
+loadlib.c:135: error: undefined reference to 'dlerror'
+loadlib.c:128: error: undefined reference to 'dlerror'
+loadlib.c:122: error: undefined reference to 'dlclose'
+collect2: error: ld returned 1 exit status
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt        | 3 ++-
+ 1 files changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e3a686..cf040c6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -178,6 +178,7 @@ google_binary(cartographer_compute_relations_metrics
+   SRCS
+     cartographer/ground_truth/compute_relations_metrics_main.cc
+ )
++target_link_libraries(cartographer_compute_relations_metrics PUBLIC -ldl)
+ 
+ google_binary(cartographer_migrate_serialization_format
+   SRCS
+@@ -263,7 +264,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   if(${BUILD_PROMETHEUS})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
+   endif()
+-  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
++  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB} -ldl)
+ endforeach()
+ 
+ # Add the binary directory first, so that port.h is included after it has
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-FindLuaGoogle.cmake-explicitly-link-with-dl.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-FindLuaGoogle.cmake-explicitly-link-with-dl.patch
new file mode 100644
index 00000000000..539b89da918
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-FindLuaGoogle.cmake-explicitly-link-with-dl.patch
@@ -0,0 +1,58 @@
+From f6acb17991e6ad7e596306be1e26adaec7297541 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 2 Jul 2020 11:59:34 +0000
+Subject: [PATCH] FindLuaGoogle.cmake explicitly link with dl
+
+* fixes cartographer-ros build which uses FindLuaGoogle provided by
+  cartographer and INTERFACE_LINK_LIBRARIES from
+  /usr/share/cartographer/cmake/CartographerTargets.cmake which
+  lists static liblua and libm, but didn't include dl now it looks
+  like this:
+  INTERFACE_LINK_LIBRARIES "ceres;cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/liblua.a;cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libm.so;dl;cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so;cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so;glog;gflags;cairo;cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libprotobuf.so;pthread"
+
+* in most builds this doesn't happen, because -ldl is also pulled by
+  openssl which in turn is used by fastrtps when it's enabled (and
+  detected correctly which doesn't seem to be the case for rolling)
+
+* otherwise -ldl might be missing and linking fails with:
+
+DEBUG: Executing shell function do_compile
+NOTE: VERBOSE=1 cmake --build cartographer-ros/1.0.9001-1-r0/build --target all -- -j 80
+...
+[16/17] : && cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/aarch64-oe-linux-g++  --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -DNDEBUG   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed cartographer_ros/CMakeFiles/occupancy_grid_node.dir/occupancy_grid_node_main.cc.o  -o cartographer_ros/occupancy_grid_node  libcartographer_ros.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librclcpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw_implementation.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcutils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_logging_spdlog.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcpputils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_yaml_param_parser.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtracetools.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libceres.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind-aarch64.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libspqr.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcholmod.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libccolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so -lgomp cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libm.so -lglog -lgflags -lcairo cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libprotobuf.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so -lpthread && :
+FAILED: cartographer_ros/occupancy_grid_node
+: && cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/aarch64-oe-linux-g++  --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -DNDEBUG   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed cartographer_ros/CMakeFiles/occupancy_grid_node.dir/occupancy_grid_node_main.cc.o  -o cartographer_ros/occupancy_grid_node  libcartographer_ros.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librclcpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw_implementation.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcutils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_logging_spdlog.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcpputils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_yaml_param_parser.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtracetools.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libceres.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind-aarch64.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libspqr.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcholmod.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libccolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so -lgomp cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libm.so -lglog -lgflags -lcairo cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libprotobuf.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so -lpthread && :
+cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/../../libexec/aarch64-oe-linux/gcc/aarch64-oe-linux/8.2.0/ld: cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a(loadlib.o): undefined reference to symbol 'dlsym@@GLIBC_2.17'
+cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/../../libexec/aarch64-oe-linux/gcc/aarch64-oe-linux/8.2.0/ld: cartographer-ros/1.0.9001-1-r0/recipe-sysroot/lib/libdl.so.2: error adding symbols: DSO missing from command line
+collect2: error: ld returned 1 exit status
+
+[17/17] : && cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/aarch64-oe-linux-g++  --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -DNDEBUG   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o  -o cartographer_ros/cartographer_node  libcartographer_ros.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_ros.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmessage_filters.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librclcpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw_implementation.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcutils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_logging_spdlog.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcpputils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_yaml_param_parser.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtracetools.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libconsole_bridge.so.1.0 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libceres.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind-aarch64.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libspqr.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcholmod.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libccolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so -lgomp cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libm.so -lglog -lgflags -lcairo cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libprotobuf.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so -lpthread && :
+FAILED: cartographer_ros/cartographer_node
+: && cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/aarch64-oe-linux-g++  --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -DNDEBUG   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0=/usr/src/debug/cartographer-ros/1.0.9001-1-r0 -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot= -fdebug-prefix-map=cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   --sysroot=cartographer-ros/1.0.9001-1-r0/recipe-sysroot -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o  -o cartographer_ros/cartographer_node  libcartographer_ros.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer_ros_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_ros.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmessage_filters.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librclcpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw_implementation.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librmw.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcutils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_logging_spdlog.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcpputils.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librcl_yaml_param_parser.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtracetools.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libconsole_bridge.so.1.0 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libtf2.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_generator_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_introspection_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_introspection_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_c.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcartographer.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libceres.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5 cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libunwind-aarch64.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libspqr.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcholmod.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libccolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcolamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libamd.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblapack.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libblas.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libsuitesparseconfig.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/librt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libmetis.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libcxsparse.so -lgomp cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libm.so -lglog -lgflags -lcairo cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libprotobuf.so -lpthread cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_system-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_serialization-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libpcl_common.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so -lpthread && :
+cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/../../libexec/aarch64-oe-linux/gcc/aarch64-oe-linux/8.2.0/ld: cartographer-ros/1.0.9001-1-r0/recipe-sysroot/usr/lib/liblua.a(loadlib.o): undefined reference to symbol 'dlsym@@GLIBC_2.17'
+cartographer-ros/1.0.9001-1-r0/recipe-sysroot-native/usr/bin/aarch64-oe-linux/../../libexec/aarch64-oe-linux/gcc/aarch64-oe-linux/8.2.0/ld: cartographer-ros/1.0.9001-1-r0/recipe-sysroot/lib/libdl.so.2: error adding symbols: DSO missing from command line
+collect2: error: ld returned 1 exit status
+ninja: build stopped: subcommand failed.
+WARNING: exit code 1 from a shell command.
+ERROR: Function failed: do_compile (log file is located at cartographer-ros/1.0.9001-1-r0/temp/log.do_compile.21940)
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ cmake/modules/FindLuaGoogle.cmake | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/cmake/modules/FindLuaGoogle.cmake b/cmake/modules/FindLuaGoogle.cmake
+index c76b8cc..abcbbfb 100644
+--- a/cmake/modules/FindLuaGoogle.cmake
++++ b/cmake/modules/FindLuaGoogle.cmake
+@@ -199,7 +199,7 @@ if (LUA_LIBRARY)
+     # include the math library for Unix
+     if (UNIX AND NOT APPLE AND NOT BEOS)
+         find_library(LUA_MATH_LIBRARY m)
+-        set(LUA_LIBRARIES "${LUA_LIBRARY};${LUA_MATH_LIBRARY}")
++        set(LUA_LIBRARIES "${LUA_LIBRARY};${LUA_MATH_LIBRARY};dl")
+     # For Windows and Mac, don't need to explicitly include the math library
+     else ()
+         set(LUA_LIBRARIES "${LUA_LIBRARY}")
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-Fix-build-with-gtest-1.8.1.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-Fix-build-with-gtest-1.8.1.patch
new file mode 100644
index 00000000000..ef667cd4696
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-Fix-build-with-gtest-1.8.1.patch
@@ -0,0 +1,271 @@
+From 84e3f64cfd0ee83d43626d9244cae225b9f925b3 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 9 Jan 2020 13:36:50 -0800
+Subject: [PATCH] Fix build with gtest-1.8.1
+
+* taken from:
+  https://github.com/googlecartographer/cartographer/issues/1611#issuecomment-560236725
+
+* linking fails without this:
+/usr/include/gmock/gmock-matchers.h:2059: error: undefined reference to 'testing::AssertionSuccess()'
+/usr/include/gmock/gmock-matchers.h:2066: error: undefined reference to 'testing::AssertionFailure()'
+/usr/include/gmock/gmock-matchers.h:2066: error: undefined reference to 'testing::AssertionResult::AssertionResult(testing::AssertionResult const&)'
+/usr/include/gtest/gtest-message.h:247: error: undefined reference to 'testing::Message::GetString[abi:cxx11]() const'
+/usr/include/gtest/gtest-printers.h:155: error: undefined reference to 'testing::internal2::PrintBytesInObjectTo(unsigned char const*, unsigned int, std::ostream*)'
+/usr/include/gtest/gtest-printers.h:616: error: undefined reference to 'testing::internal::PrintStringTo(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::ostream*)'
+/usr/include/gtest/gtest.h:1435: error: undefined reference to 'testing::internal::EqFailure(char const*, char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)'
+/usr/include/gtest/gtest.h:1445: error: undefined reference to 'testing::AssertionSuccess()'
+/usr/include/gtest/gtest.h:335: error: undefined reference to 'testing::Message::Message()'
+/usr/include/gtest/gtest.h:352: error: undefined reference to 'testing::Message::GetString[abi:cxx11]() const'
+/usr/include/gtest/internal/gtest-internal.h:664: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/include/gtest/internal/gtest-port.h:1215: error: undefined reference to 'testing::internal::IsTrue(bool)'
+/usr/include/gtest/internal/gtest-port.h:2061: error: undefined reference to 'testing::internal::GTestLog::GTestLog(testing::internal::GTestLogSeverity, char const*, int)'
+/usr/include/gtest/internal/gtest-port.h:2061: error: undefined reference to 'testing::internal::GTestLog::~GTestLog()'
+/usr/include/gtest/internal/gtest-port.h:2061: error: undefined reference to 'testing::internal::g_linked_ptr_mutex'
+/usr/include/gtest/internal/gtest-port.h:2073: error: undefined reference to 'testing::internal::GTestLog::GTestLog(testing::internal::GTestLogSeverity, char const*, int)'
+/usr/include/gtest/internal/gtest-port.h:2073: error: undefined reference to 'testing::internal::GTestLog::~GTestLog()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:103: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:103: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:103: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:103: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:37: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:37: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:37: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:37: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:88: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:88: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:88: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:88: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:91: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:91: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:91: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:91: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:92: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:92: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:92: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:92: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:93: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:93: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:93: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/collator_test.cc:93: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:29: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:29: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:29: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:29: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:34: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:34: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:34: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:34: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:38: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:38: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:38: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:38: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:43: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:47: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:47: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:47: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:52: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:52: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:52: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/internal/voxel_filter_test.cc:52: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:40: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:40: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:40: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:40: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:54: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:54: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:54: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:54: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:65: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:65: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:65: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:65: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:65: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:73: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:73: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:73: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:73: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:73: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:79: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:79: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:79: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:79: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:82: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:91: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:91: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:91: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:97: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:97: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:97: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:97: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/map_by_time_test.cc:97: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:28: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:28: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:28: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:28: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:40: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:40: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:40: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:40: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:46: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:46: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:46: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:46: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:46: error: undefined reference to 'testing::internal::DoubleNearPredFormat(char const*, char const*, char const*, double, double, double)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:47: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:47: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:47: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:47: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:47: error: undefined reference to 'testing::internal::DoubleNearPredFormat(char const*, char const*, char const*, double, double, double)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:48: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:48: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:48: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:48: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:48: error: undefined reference to 'testing::internal::DoubleNearPredFormat(char const*, char const*, char const*, double, double, double)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:49: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:49: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:49: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:49: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/sensor/point_cloud_test.cc:49: error: undefined reference to 'testing::internal::DoubleNearPredFormat(char const*, char const*, char const*, double, double, double)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:29: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:29: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:80: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:80: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:80: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:80: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:81: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:81: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:81: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:81: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:82: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:82: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:82: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:82: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:84: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:84: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:84: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test.cc:84: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/rigid_transform_test_helpers.h:42: error: undefined reference to 'testing::internal::FormatMatcherDescription(bool, char const*, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:29: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:29: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:29: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:29: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:38: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:39: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:40: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:40: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:40: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:40: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:40: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:41: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:41: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:41: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:41: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:41: error: undefined reference to 'testing::internal::GetBoolAssertionFailureMessage[abi:cxx11](testing::AssertionResult const&, char const*, char const*, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:42: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:42: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:42: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:42: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:43: error: undefined reference to 'testing::Message::Message()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::AssertHelper(testing::TestPartResult::Type, char const*, int, char const*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::operator=(testing::Message const&) const'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:43: error: undefined reference to 'testing::internal::AssertHelper::~AssertHelper()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:46: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:46: error: undefined reference to 'testing::Test::~Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:46: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:46: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:65: error: undefined reference to 'testing::Test::Test()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:65: error: undefined reference to 'testing::internal::GetTestTypeId()'
+/usr/src/debug/cartographer/1.0.0-1-r0/git/cartographer/transform/transform_interpolation_buffer_test.cc:65: error: undefined reference to 'testing::internal::MakeAndRegisterTestInfo(char const*, char const*, char const*, char const*, testing::internal::CodeLocation, void const*, void (*)(), void (*)(), testing::internal::TestFactoryBase*)'
+/usr/src/debug/gtest/1.8.1-r0/git/googlemock/src/gmock_main.cc:52: error: undefined reference to 'testing::InitGoogleMock(int*, char**)'
+/usr/src/debug/gtest/1.8.1-r0/git/googletest/include/gtest/gtest.h:2341: error: undefined reference to 'testing::UnitTest::GetInstance()'
+/usr/src/debug/gtest/1.8.1-r0/git/googletest/include/gtest/gtest.h:2341: error: undefined reference to 'testing::UnitTest::Run()'
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+CMakeFiles/cartographer.sensor.internal.collator_test.dir/cartographer/sensor/internal/collator_test.cc.o:collator_test.cc:vtable for cartographer::sensor::(anonymous namespace)::Collator_OrderingMultipleTrajectories_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.internal.collator_test.dir/cartographer/sensor/internal/collator_test.cc.o:collator_test.cc:vtable for cartographer::sensor::(anonymous namespace)::Collator_Ordering_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.internal.collator_test.dir/cartographer/sensor/internal/collator_test.cc.o:collator_test.cc:vtable for cartographer::sensor::(anonymous namespace)::Collator_Ordering_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_HandlesLargeCoordinates_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_IgnoresTime_Test: error: undefined reference to 'typeinfo for testing::Test'
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+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:vtable for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_HandlesLargeCoordinates_Test: error: undefined reference to 'testing::Test::TearDown()'
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+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:vtable for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_IgnoresTime_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:vtable for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_ReturnsTheFirstPointInEachVoxel_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.internal.voxel_filter_test.dir/cartographer/sensor/internal/voxel_filter_test.cc.o:voxel_filter_test.cc:vtable for cartographer::sensor::(anonymous namespace)::VoxelFilterTest_ReturnsTheFirstPointInEachVoxel_Test: error: undefined reference to 'testing::Test::TearDown()'
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+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::MapByTimeTest_TrimmingDoesNotCreateTrajectory_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::MapByTimeTest_Trimming_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_AppendAndViewTrajectory_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_AppendAndViewTrajectory_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_TrimmingDoesNotCreateTrajectory_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_TrimmingDoesNotCreateTrajectory_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_Trimming_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.map_by_time_test.dir/cartographer/sensor/map_by_time_test.cc.o:map_by_time_test.cc:vtable for cartographer::sensor::(anonymous namespace)::MapByTimeTest_Trimming_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.sensor.point_cloud_test.dir/cartographer/sensor/point_cloud_test.cc.o:point_cloud_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::PointCloudTest_TransformPointCloud_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.sensor.point_cloud_test.dir/cartographer/sensor/point_cloud_test.cc.o:point_cloud_test.cc:typeinfo for cartographer::sensor::(anonymous namespace)::PointCloudTest_TransformTimedPointCloud_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.sensor.point_cloud_test.dir/cartographer/sensor/point_cloud_test.cc.o:point_cloud_test.cc:vtable for cartographer::sensor::(anonymous namespace)::PointCloudTest_TransformPointCloud_Test: error: undefined reference to 'testing::Test::SetUp()'
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+CMakeFiles/cartographer.sensor.point_cloud_test.dir/cartographer/sensor/point_cloud_test.cc.o:point_cloud_test.cc:vtable for cartographer::sensor::(anonymous namespace)::PointCloudTest_TransformTimedPointCloud_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.sensor.point_cloud_test.dir/cartographer/sensor/point_cloud_test.cc.o:point_cloud_test.cc:vtable for cartographer::sensor::(anonymous namespace)::PointCloudTest_TransformTimedPointCloud_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:typeinfo for cartographer::transform::(anonymous namespace)::RigidTransformTest<double>: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:typeinfo for cartographer::transform::(anonymous namespace)::RigidTransformTest<float>: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest<float>: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest<float>: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Identity2DTest_Test<float>: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Identity2DTest_Test<float>: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Identity3DTest_Test<float>: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Identity3DTest_Test<float>: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Inverse2DTest_Test<float>: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:vtable for cartographer::transform::(anonymous namespace)::RigidTransformTest_Inverse2DTest_Test<float>: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:typeinfo for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testHas_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:typeinfo for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookupSingleTransform_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:typeinfo for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookup_Test: error: undefined reference to 'typeinfo for testing::Test'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testHas_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testHas_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookupSingleTransform_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookupSingleTransform_Test: error: undefined reference to 'testing::Test::TearDown()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookup_Test: error: undefined reference to 'testing::Test::SetUp()'
+CMakeFiles/cartographer.transform.transform_interpolation_buffer_test.dir/cartographer/transform/transform_interpolation_buffer_test.cc.o:transform_interpolation_buffer_test.cc:vtable for cartographer::transform::(anonymous namespace)::TransformInterpolationBufferTest_testLookup_Test: error: undefined reference to 'testing::Test::TearDown()'
+collect2: error: ld returned 1 exit status
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ cmake/modules/FindGMock.cmake | 10 +++++++++-
+ 1 file changed, 9 insertions(+), 1 deletion(-)
+
+diff --git a/cmake/modules/FindGMock.cmake b/cmake/modules/FindGMock.cmake
+index c663e98..9afa068 100644
+--- a/cmake/modules/FindGMock.cmake
++++ b/cmake/modules/FindGMock.cmake
+@@ -30,6 +30,14 @@ if(NOT GMock_FOUND)
+     PATHS
+       /usr
+   )
++  find_library(GTEST_LIBRARIES
++    NAMES gtest
++    PATH_SUFFIXES lib
++  )
++  find_library(GMOCK_A_LIBRARIES
++    NAMES gmock
++    PATH_SUFFIXES lib
++  )
+ 
+   # Find system-wide gtest header.
+   find_path(GTEST_INCLUDE_DIRS gtest/gtest.h
+@@ -65,7 +73,7 @@ if(NOT GMock_FOUND)
+ 
+   # System-wide installed gmock library might require pthreads.
+   find_package(Threads REQUIRED)
+-  list(APPEND GMOCK_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
++  list(APPEND GMOCK_LIBRARIES ${GMOCK_A_LIBRARIES} ${GTEST_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
+ endif()
+ 
+ include(FindPackageHandleStandardArgs)
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0002-CmakeLists.txt-set-C-version-to-C-14.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0002-CmakeLists.txt-set-C-version-to-C-14.patch
new file mode 100644
index 00000000000..c738553c346
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0002-CmakeLists.txt-set-C-version-to-C-14.patch
@@ -0,0 +1,39 @@
+From 12d4c2e941d85a085b98a3e19b68d263ff8a5dd5 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Wed, 17 Feb 2021 17:30:59 +0000
+Subject: [PATCH] CmakeLists.txt: set C++ version to C++14
+
+* ceres requires a fully C++14-compliant compiler since version 2.0:
+  https://github.com/ceres-solver/ceres-solver/commit/7ef83e07592ead74eeacc227b642df1959d2a246
+
+  without it, cartographer build fails with a lot of errors like:
+  error: 'integer_sequence' is not a member of 'std'
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cf040c6..ce09583 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -29,6 +29,7 @@ google_initialize_cartographer_project()
+ google_enable_testing()
+ 
+ find_package(Boost REQUIRED COMPONENTS iostreams)
++set(CMAKE_CXX_STANDARD 14)
+ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+ find_package(Eigen3 REQUIRED)
+ find_package(LuaGoogle REQUIRED)
+@@ -235,7 +236,7 @@ if(${BUILD_PROMETHEUS})
+   target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
+ endif()
+ 
+-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
++set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS} ${CERES_CXX_FLAGS}")
+ set_target_properties(${PROJECT_NAME} PROPERTIES
+   COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+ 
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0003-proto_stream_deserializer_test.cc-fix-build-with-C-1.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0003-proto_stream_deserializer_test.cc-fix-build-with-C-1.patch
new file mode 100644
index 00000000000..3dd04e33b42
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0003-proto_stream_deserializer_test.cc-fix-build-with-C-1.patch
@@ -0,0 +1,34 @@
+From 9085619d285f328e1929113e442c9a1b5bdb0f19 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Wed, 17 Feb 2021 17:49:35 +0000
+Subject: [PATCH] proto_stream_deserializer_test.cc: fix build with C++14
+
+* fixes:
+  cartographer/1.0.9001-1-r0/git/cartographer/io/proto_stream_deserializer_test.cc: In member function 'void cartographer::io::{anonymous}::ProtoStreamDeserializerTest::InitializeProtoReader(const string&, const std::initializer_list<std::__cxx11::basic_string<char> >&)':
+  cartographer/1.0.9001-1-r0/git/cartographer/io/proto_stream_deserializer_test.cc:72:76: error: call of overloaded 'make_unique<cartographer::io::InMemoryProtoStreamReader>(std::remove_reference<std::queue<std::unique_ptr<google::protobuf::Message> >&>::type)' is ambiguous
+   72 |     reader_ = make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
+      |                                                                            ^
+* it's changed from common to absl in newer cartographer with:
+  https://github.com/cartographer-project/cartographer/commit/5b44305ea30e6af0d1b1edb50e758881f3330c07
+  but before that we can use this simple work around
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ cartographer/io/proto_stream_deserializer_test.cc | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/cartographer/io/proto_stream_deserializer_test.cc b/cartographer/io/proto_stream_deserializer_test.cc
+index 6ba5c43..b851533 100644
+--- a/cartographer/io/proto_stream_deserializer_test.cc
++++ b/cartographer/io/proto_stream_deserializer_test.cc
+@@ -69,7 +69,7 @@ class ProtoStreamDeserializerTest : public ::testing::Test {
+       proto_queue.emplace(make_unique<SerializedData>(
+           ProtoFromStringOrDie<SerializedData>(data_textpb)));
+     }
+-    reader_ = make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
++    reader_ = common::make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
+   }
+ 
+   std::unique_ptr<InMemoryProtoStreamReader> reader_;
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0004-CMakeLists.txt-don-t-include-CERES_INCLUDE_DIRS-if-i.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0004-CMakeLists.txt-don-t-include-CERES_INCLUDE_DIRS-if-i.patch
new file mode 100644
index 00000000000..1e468009eaa
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0004-CMakeLists.txt-don-t-include-CERES_INCLUDE_DIRS-if-i.patch
@@ -0,0 +1,80 @@
+From e19bf2c9d85c3fb76275a7223a3444f0e79a4c54 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Sun, 21 Feb 2021 07:27:40 -0800
+Subject: [PATCH] CMakeLists.txt: don't include CERES_INCLUDE_DIRS if it's
+ empty or not set
+
+* possibly partial fix for:
+  https://github.com/cartographer-project/cartographer/issues/1688
+
+* ceres documentation says:
+  http://ceres-solver.org/installation.html#using-ceres-with-cmake
+  Note
+  You do not need to call include_directories(${CERES_INCLUDE_DIRS})
+  as the exported Ceres CMake target already contains the definitions
+  of its public include directories which will be automatically
+  included by CMake when compiling a target that links against Ceres.
+  In fact, since v2.0 CERES_INCLUDE_DIRS is not even set.
+
+* see ceres-solver change:
+  https://ceres-solver.googlesource.com/ceres-solver/+/2166bad133d279ec28008f1df8b4d90a7023f531
+
+* otherwise its source directory ends in INTERFACE_INCLUDE_DIRECTORIES/INTERFACE_SYSTEM_INCLUDE_DIRECTORIES
+  variables like this:
+
+set_target_properties(cartographer PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "FIXMESTAGINGDIRTARGET/usr/include/eigen3;/jenkins/mjansa/build/ros/ros1-melodic-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer/1.0.0-r0/git/;FIXMESTAGINGDIRTARGET/usr/include;FIXMESTAGINGDIRTARGET/usr/include;FIXMESTAGINGDIRTARGET/usr/include/cairo;FIXMESTAGINGDIRTARGET/usr/include/glib-2.0;FIXMESTAGINGDIRTARGET/usr/lib/glib-2.0/include;FIXMESTAGINGDIRTARGET/usr/include/pixman-1;FIXMESTAGINGDIRTARGET/usr/include/uuid;FIXMESTAGINGDIRTARGET/usr/include/freetype2;FIXMESTAGINGDIRTARGET/usr/include/libpng16;FIXMESTAGINGDIRTARGET/usr/include;${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "Ceres::ceres;FIXMESTAGINGDIRTARGET/usr/lib/liblua.a;FIXMESTAGINGDIRTARGET/usr/lib/libm.so;Boost::iostreams;glog;gflags;cairo;FIXMESTAGINGDIRTARGET/usr/lib/libprotobuf.so;pthread"
+  INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "FIXMESTAGINGDIRTARGET/usr/include/eigen3;/jenkins/mjansa/build/ros/ros1-melodic-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer/1.0.0-r0/git/;FIXMESTAGINGDIRTARGET/usr/include;FIXMESTAGINGDIRTARGET/usr/include;FIXMESTAGINGDIRTARGET/usr/include/cairo;FIXMESTAGINGDIRTARGET/usr/include/glib-2.0;FIXMESTAGINGDIRTARGET/usr/lib/glib-2.0/include;FIXMESTAGINGDIRTARGET/usr/include/pixman-1;FIXMESTAGINGDIRTARGET/usr/include/uuid;FIXMESTAGINGDIRTARGET/usr/include/freetype2;FIXMESTAGINGDIRTARGET/usr/include/libpng16;FIXMESTAGINGDIRTARGET/usr/include"
+)
+
+* otherwise the paths to cartographer WORKDIR end in CartographerTargets.cmake
+  INTERFACE_INCLUDE_DIRECTORIES, INTERFACE_SYSTEM_INCLUDE_DIRECTORIES variables
+  and cartographer-ros fails to configure if cartographer WORKDIR was already
+  removed (e.g. when cartographer used from sstate or cleaned with rm_work)
+
+  ./recipe-sysroot/usr/share/cartographer/cmake/CartographerTargets.cmake:  INTERFACE_INCLUDE_DIRECTORIES "/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/eigen3;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer/1.0.0-r0/git/;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/cairo;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/glib-2.0;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/lib/glib-2.0/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/pixman-1;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/uuid;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/freetype2;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/libpng16;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include;${_IMPORT_PREFIX}/include"
+
+  ./recipe-sysroot/usr/share/cartographer/cmake/CartographerTargets.cmake:  INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/eigen3;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer/1.0.0-r0/git/;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/cairo;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/glib-2.0;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/lib/glib-2.0/include;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/pixman-1;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/uuid;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/freetype2;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include/libpng16;/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer-ros/1.0.0-1-r0/recipe-sysroot/usr/include"
+
+* fixes cartographer-ros do_configure error:
+-- Configuring done
+CMake Error in CMakeLists.txt:
+  Imported target "cartographer" includes non-existent path
+
+    "/jenkins/mjansa/build/ros/ros2-rolling-hardknott/tmp-glibc/work/core2-64-oe-linux/cartographer/1.0.0-r0/git/"
+
+  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:
+
+  * The path was deleted, renamed, or moved to another location.
+
+  * An install or uninstall procedure did not complete successfully.
+
+  * The installation package was faulty and references files it does not
+  provide.
+
+Upstream-Status: Submitted [https://github.com/cartographer-project/cartographer/pull/1808]
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 8 ++++++--
+ 1 file changed, 6 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 42f23fc8..db8edfd8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -204,8 +204,12 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+   "${EIGEN3_INCLUDE_DIR}")
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
+ 
+-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+-  "${CERES_INCLUDE_DIRS}")
++if (CERES_INCLUDE_DIRS AND NOT "${CERES_INCLUDE_DIRS}" STREQUAL "")
++  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
++    "${CERES_INCLUDE_DIRS}")
++else()
++  message(STATUS "Not including CERES_INCLUDE_DIRS, because it's not set or empty, see http://ceres-solver.org/installation.html#using-ceres-with-cmake Ceres: CERES_INCLUDE_DIRS: '${CERES_INCLUDE_DIRS}' CERES_INCLUDE_DIR '${CERES_INCLUDE_DIR}'")
++endif()
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
+ 
+ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/cmake.dont.add.Werror.uninitialized.patch b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/cmake.dont.add.Werror.uninitialized.patch
new file mode 100644
index 00000000000..d3785dec3ae
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/cmake.dont.add.Werror.uninitialized.patch
@@ -0,0 +1,23 @@
+Otherwise it fails with older Yocto with following error (doesn't fail with 3.2 Gatesgarth):
+
+| /jenkins/home/workspace/jansa/ros2-dashing-thud/ros2-dashing-thud/tmp-glibc/work/aarch64-oe-linux/cartographer/1.0.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/DenseStorage.h: In member function 'virtual void cartographer::sensor::{anonymous}::Collator_Ordering_Test::TestBody()':
+| /jenkins/home/workspace/jansa/ros2-dashing-thud/ros2-dashing-thud/tmp-glibc/work/aarch64-oe-linux/cartographer/1.0.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/DenseStorage.h: In member function 'virtual void cartographer::sensor::{anonymous}::Collator_OrderingMultipleTrajectories_Test::TestBody()':
+| /jenkins/home/workspace/jansa/ros2-dashing-thud/ros2-dashing-thud/tmp-glibc/work/aarch64-oe-linux/cartographer/1.0.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/DenseStorage.h:194:66: error: '*((void*)(&<anonymous>)+8).Eigen::DenseStorage<double, 3, 3, 1, 0>::m_data' may be used uninitialized in this function [-Werror=maybe-uninitialized]
+|      DenseStorage(const DenseStorage& other) : m_data(other.m_data) {
+|                                                                   ^
+....
+| cc1plus: some warnings being treated as errors
+
+Upstream-Status: Pending
+
+diff -uNr cartographer-release-release-melodic-cartographer-1.0.0-0/cmake/functions.cmake cartographer-release-release-melodic-cartographer-1.0.0-0.new/cmake/functions.cmake
+--- cartographer-release-release-melodic-cartographer-1.0.0-0/cmake/functions.cmake	2018-06-01 12:10:29.000000000 +0000
++++ cartographer-release-release-melodic-cartographer-1.0.0-0.new/cmake/functions.cmake	2019-09-07 20:28:53.786899683 +0000
+@@ -83,7 +83,6 @@
+   google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
+   google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
+   google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
+-  google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
+ 
+   if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+     set(CMAKE_BUILD_TYPE Release)
diff --git a/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer_1.0.9001-2.bbappend b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer_1.0.9001-2.bbappend
new file mode 100644
index 00000000000..8e6de34f5da
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cartographer/cartographer_1.0.9001-2.bbappend
@@ -0,0 +1,26 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += " \
+    file://0001-CMakeLists.txt-link-with-dl.patch \
+    file://0001-FindLuaGoogle.cmake-explicitly-link-with-dl.patch \
+    file://cmake.dont.add.Werror.uninitialized.patch \
+    file://0001-Fix-build-with-gtest-1.8.1.patch \
+    file://0002-CmakeLists.txt-set-C-version-to-C-14.patch \
+    file://0003-proto_stream_deserializer_test.cc-fix-build-with-C-1.patch \
+    file://0004-CMakeLists.txt-don-t-include-CERES_INCLUDE_DIRS-if-i.patch \
+"
+
+# This is used only to generate documentation so it should
+# be native and needs quite a lot of native python dependencies
+ROS_BUILD_DEPENDS_remove = "${PYTHON_PN}-sphinx python-sphinx"
+
+DEPENDS += " \
+    protobuf-native \
+"
+
+# Otherwise linking with liblua.a fails with undefined references to dlsym, dlopen, dlerror, dlclose
+CXXFLAGS += "-fuse-ld=gold"
+
+# Doesn't need runtime dependency on ceres-solver
+ROS_EXEC_DEPENDS_remove = "ceres-solver"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/actionlib-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/actionlib-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/actionlib-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/diagnostic-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/diagnostic-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/diagnostic-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/geometry-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/geometry-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/geometry-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/nav-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/nav-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/nav-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/sensor-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/sensor-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/sensor-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/shape-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/shape-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/shape-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-srvs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-srvs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..7c58570b4cc
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/std-srvs_2.2.2-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/stereo-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/stereo-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/stereo-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/trajectory-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/trajectory-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/trajectory-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/common-interfaces/visualization-msgs_2.2.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/common-interfaces/visualization-msgs_2.2.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/common-interfaces/visualization-msgs_2.2.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/control-msgs/control-msgs_2.5.0-3.bbappend b/meta-ros2-galactic/recipes-bbappends/control-msgs/control-msgs_2.5.0-3.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/control-msgs/control-msgs_2.5.0-3.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds/0001-ddsconf-install-ddsconf-to-be-used-in-target-cyclone.patch b/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds/0001-ddsconf-install-ddsconf-to-be-used-in-target-cyclone.patch
new file mode 100644
index 00000000000..921d3220c62
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds/0001-ddsconf-install-ddsconf-to-be-used-in-target-cyclone.patch
@@ -0,0 +1,33 @@
+From 742fed824fcea547cabb70fa54dd9344d26c5e80 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 16 Apr 2021 05:14:03 -0700
+Subject: [PATCH] ddsconf: install ddsconf to be used in target cyclonedds
+ build
+
+* it is built by cyclonedds-native, but not installed so target cyclonedds was still failing with:
+  -- Found OpenSSL: /jenkins/mjansa/build/ros/webos-rolling-hardknott/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cyclonedds/0.8.0-3-r0/recipe-sysroot/usr/lib/libcrypto.so (found version "1.1.1k")
+  -- Building with OpenSSL support
+  CMake Error at src/tools/ddsconf/CMakeLists.txt:13 (find_program):
+    Could not find DDSCONF_EXECUTABLE using the following names: ddsconf
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ src/tools/ddsconf/CMakeLists.txt | 5 +++++
+ 1 file changed, 5 insertions(+)
+
+diff --git a/src/tools/ddsconf/CMakeLists.txt b/src/tools/ddsconf/CMakeLists.txt
+index b11783a..9be5eb9 100644
+--- a/src/tools/ddsconf/CMakeLists.txt
++++ b/src/tools/ddsconf/CMakeLists.txt
+@@ -37,4 +37,9 @@ else()
+     "${CMAKE_CURRENT_BINARY_DIR}/include"
+     $<BUILD_INTERFACE:$<TARGET_PROPERTY:ddsc,INCLUDE_DIRECTORIES>>
+     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
++  install(
++    TARGETS ddsconf
++    DESTINATION "${CMAKE_INSTALL_BINDIR}"
++    COMPONENT dev
++  )
+ endif()
diff --git a/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds_0.8.0-3.bbappend b/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds_0.8.0-3.bbappend
new file mode 100644
index 00000000000..b79ae4cd8fa
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/cyclonedds/cyclonedds_0.8.0-3.bbappend
@@ -0,0 +1,13 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+# IDLC depends on maven and we don't want meta-ros to depend on meta-java just for that
+EXTRA_OECMAKE += "-DBUILD_IDLC=OFF"
+
+FILES_${PN}-dev += "${datadir}/CycloneDDS"
+
+inherit ros_insane_dev_so
+
+DEPENDS += "cyclonedds-native"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-ddsconf-install-ddsconf-to-be-used-in-target-cyclone.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/demos/action-tutorials-interfaces_0.14.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/demos/action-tutorials-interfaces_0.14.0-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/demos/action-tutorials-interfaces_0.14.0-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/demos/logging-demo_0.14.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/demos/logging-demo_0.14.0-1.bbappend
new file mode 100644
index 00000000000..7ac3d61a137
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/demos/logging-demo_0.14.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/demos/pendulum-msgs_0.14.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/demos/pendulum-msgs_0.14.0-1.bbappend
new file mode 100644
index 00000000000..89a99ade4ea
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/demos/pendulum-msgs_0.14.0-1.bbappend
@@ -0,0 +1,20 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/example-interfaces/example-interfaces_0.9.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/example-interfaces/example-interfaces_0.9.2-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/example-interfaces/example-interfaces_0.9.2-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/fastcdr/fastcdr_%.bbappend b/meta-ros2-galactic/recipes-bbappends/fastcdr/fastcdr_%.bbappend
new file mode 100644
index 00000000000..54e3368e181
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fastcdr/fastcdr_%.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps/0001-Add-missing-operators-to-TypeSupport-1912.patch b/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps/0001-Add-missing-operators-to-TypeSupport-1912.patch
new file mode 100644
index 00000000000..8ea299f25f1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps/0001-Add-missing-operators-to-TypeSupport-1912.patch
@@ -0,0 +1,66 @@
+From c717fe60e862b81a7aa3ed46e17114c36aafcd10 Mon Sep 17 00:00:00 2001
+From: Miguel Company <miguelcompany@eprosima.com>
+Date: Tue, 13 Apr 2021 15:02:54 +0200
+Subject: [PATCH] Add missing operators to TypeSupport (#1912)
+
+Upstream-Status: Backport [v2.3.01 https://github.com/eProsima/Fast-DDS/commit/d05d0cf2a78b8a1588e9f2d712e200fde62554dd]
+
+Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ include/fastdds/dds/topic/TypeSupport.hpp | 32 ++++++++++++++++-------
+ 1 file changed, 23 insertions(+), 9 deletions(-)
+
+diff --git a/include/fastdds/dds/topic/TypeSupport.hpp b/include/fastdds/dds/topic/TypeSupport.hpp
+index a17c503b..12bfd6cf 100644
+--- a/include/fastdds/dds/topic/TypeSupport.hpp
++++ b/include/fastdds/dds/topic/TypeSupport.hpp
+@@ -57,25 +57,39 @@ public:
+     using Base::operator ->;
+     using Base::operator *;
+     using Base::operator bool;
+-    using Base::operator =;
+ 
+     /**
+      * @brief Constructor
+      */
+-    RTPS_DllAPI TypeSupport()
+-        : std::shared_ptr<fastdds::dds::TopicDataType>(nullptr)
+-    {
+-    }
++    RTPS_DllAPI TypeSupport() noexcept = default;
+ 
+     /**
+      * @brief Copy Constructor
+      * @param type Another instance of TypeSupport
+      */
+     RTPS_DllAPI TypeSupport(
+-            const TypeSupport& type)
+-        : std::shared_ptr<fastdds::dds::TopicDataType>(type)
+-    {
+-    }
++            const TypeSupport& type) noexcept = default;
++
++    /**
++     * @brief Move Constructor
++     * @param type Another instance of TypeSupport
++     */
++    RTPS_DllAPI TypeSupport(
++            TypeSupport&& type) noexcept = default;
++
++    /**
++     * @brief Copy Assignment
++     * @param type Another instance of TypeSupport
++     */
++    RTPS_DllAPI TypeSupport& operator = (
++            const TypeSupport& type) noexcept = default;
++
++    /**
++     * @brief Move Assignment
++     * @param type Another instance of TypeSupport
++     */
++    RTPS_DllAPI TypeSupport& operator = (
++            TypeSupport&& type) noexcept = default;
+ 
+     /*!
+      * \brief TypeSupport constructor that receives a TopicDataType pointer.
diff --git a/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps_%.bbappend b/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps_%.bbappend
new file mode 100644
index 00000000000..bc6894add8d
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fastrtps/fastrtps_%.bbappend
@@ -0,0 +1,18 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+inherit ros_insane_dev_so
+
+FILES_${PN} += "${prefix}/tools"
+
+# rosidl-typesupport-fastrtps-cpp/1.0.2-1-r0/recipe-sysroot/usr/share/fastrtps/cmake/fast-discovery-server-targets.cmake:70
+# expects the binary to exist:
+# The imported target "fastdds::fast-discovery-server" references the file
+# "TOPDIR/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/rosidl-typesupport-fastrtps-cpp/1.0.2-1-r0/recipe-sysroot/usr/bin/fast-discovery-server-1.0.0"
+# OE doesn't stage ${bindir} for target recipes, but in this case the fastdds::fast-discovery-server isn't
+# being called during the cross-build, so we can include it just to keep CMake happy
+sysroot_stage_all_append() {
+    sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
+}
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-Add-missing-operators-to-TypeSupport-1912.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/filters/filters/0001-filter_base.hpp-use-unsigned-long-instead-of-size_t-.patch b/meta-ros2-galactic/recipes-bbappends/filters/filters/0001-filter_base.hpp-use-unsigned-long-instead-of-size_t-.patch
new file mode 100644
index 00000000000..51ab036cd36
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/filters/filters/0001-filter_base.hpp-use-unsigned-long-instead-of-size_t-.patch
@@ -0,0 +1,43 @@
+From b5ec49990f0063748284987bfbf87b7cdeec0d33 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 2 Jul 2020 14:21:01 +0000
+Subject: [PATCH] filter_base.hpp: use unsigned long instead of size_t in
+ getParam 2nd parameter
+
+* it was added in:
+  https://github.com/ros/filters/commit/25c7d309576d049e95e2087608bfd8138b7f36d8
+  but unfortunately on 32bit systems size_t could be the same as unsigned int already
+  defined above and then the build fails with:
+
+| filters/2.0.0-1-r0/git/include/filters/filter_base.hpp:219:8: error: 'bool filters::FilterBase<T>::getParam(const string&, size_t&)' cannot be overloaded with 'bool filters::FilterBase<T>::getParam(const string&, unsigned int&)'
+|   219 |   bool getParam(const std::string & name, size_t & value)
+|       |        ^~~~~~~~
+| filters/2.0.0-1-r0/git/include/filters/filter_base.hpp:201:8: note: previous declaration 'bool filters::FilterBase<T>::getParam(const string&, unsigned int&)'
+|   201 |   bool getParam(const std::string & name, unsigned int & value)
+|       |        ^~~~~~
+
+Upstream-Status: Submitted [https://github.com/ros/filters/pull/39]
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ include/filters/filter_base.hpp | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/include/filters/filter_base.hpp b/include/filters/filter_base.hpp
+index a31739d..a2b0827 100644
+--- a/include/filters/filter_base.hpp
++++ b/include/filters/filter_base.hpp
+@@ -212,11 +212,11 @@ protected:
+   }
+ 
+   /**
+-   * \brief Get a filter parameter as a size_t
++   * \brief Get a filter parameter as an unsigned long
+    * \param name The name of the parameter
+    * \param value The int to set with the value
+    * \return Whether or not the parameter of name/type was set */
+-  bool getParam(const std::string & name, size_t & value)
++  bool getParam(const std::string & name, unsigned long & value)
+   {
+     int signed_value;
+     if (!getParam(name, signed_value)) {
diff --git a/meta-ros2-galactic/recipes-bbappends/filters/filters_2.0.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/filters/filters_2.0.0-2.bbappend
new file mode 100644
index 00000000000..ca7d88444ab
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/filters/filters_2.0.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += " \
+    file://0001-filter_base.hpp-use-unsigned-long-instead-of-size_t-.patch \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter-examples_2.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter-examples_2.1.0-1.bbappend
new file mode 100644
index 00000000000..946a1e5ab87
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter-examples_2.1.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# backport equivalent of following changes:
+# dashing: https://github.com/ros/rosdistro/commit/e27c2fdadc560e6ecf653d73d01d3cff10bda49e
+# foxy: https://github.com/ros/rosdistro/commit/ef8ab3a3d8ca3b9de81807050f22ec4a300fb6f2
+SRC_URI = "git://github.com/ros2-gbp/fmi_adapter-release;${ROS_BRANCH};protocol=https"
diff --git a/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter_2.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter_2.1.0-1.bbappend
new file mode 100644
index 00000000000..946a1e5ab87
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fmi-adapter/fmi-adapter_2.1.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# backport equivalent of following changes:
+# dashing: https://github.com/ros/rosdistro/commit/e27c2fdadc560e6ecf653d73d01d3cff10bda49e
+# foxy: https://github.com/ros/rosdistro/commit/ef8ab3a3d8ca3b9de81807050f22ec4a300fb6f2
+SRC_URI = "git://github.com/ros2-gbp/fmi_adapter-release;${ROS_BRANCH};protocol=https"
diff --git a/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor/0001-CMakeLists.txt-just-depend-on-system-fmilibrary-with.patch b/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor/0001-CMakeLists.txt-just-depend-on-system-fmilibrary-with.patch
new file mode 100644
index 00000000000..3f4a6b9a7a6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor/0001-CMakeLists.txt-just-depend-on-system-fmilibrary-with.patch
@@ -0,0 +1,50 @@
+From 33e51b8740b71de2f2d0b773b28fb7b771938558 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 29 Nov 2019 19:03:46 -0800
+Subject: [PATCH] CMakeLists.txt: just depend on system fmilibrary without
+ trying to build it
+
+* -DFMILIB_BUILD_TESTS=OFF is also needed when cross-compiling
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 23 +++++++----------------
+ 1 file changed, 7 insertions(+), 16 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index df8d628..cc59cde 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,23 +3,14 @@ project(fmilibrary_vendor)
+ 
+ find_package(ament_cmake REQUIRED)
+ 
+-include(ExternalProject)
+-set(fmilibrary_version 2.2.3)
+-externalproject_add(FMILibraryProject-${fmilibrary_version}
+-  GIT_REPOSITORY https://github.com/modelon-community/fmi-library.git
+-  GIT_TAG ${fmilibrary_version}
+-  GIT_CONFIG advice.detachedHead=false
+-  # Suppress git update due to https://gitlab.kitware.com/cmake/cmake/-/issues/16419
+-  UPDATE_COMMAND ""
+-  TIMEOUT 60
+-)
+-externalproject_get_property(FMILibraryProject-${fmilibrary_version} INSTALL_DIR)
+-set(FMILibraryProject_INCLUDE_DIR "${INSTALL_DIR}/src/install/include")
+-set(FMILibraryProject_LIB_DIR "${INSTALL_DIR}/src/install/lib")
++#find_package(PkgConfig REQUIRED)
++#pkg_check_modules(FMILIBRARY REQUIRED fmilibrary)
+ 
+-install(DIRECTORY ${FMILibraryProject_INCLUDE_DIR}/ DESTINATION include)
+-install(FILES ${FMILibraryProject_LIB_DIR}/libfmilib.a DESTINATION lib)
+-install(FILES ${FMILibraryProject_LIB_DIR}/libfmilib_shared.so DESTINATION lib)
++#if(FMILIBRARY_FOUND)
++#  message(STATUS "Found fmilibrary ${FMILIBRARY_VERSION}")
++#else()
++#  message(FATAL_ERROR "fmilibrary not found -- missing from DEPENDS?")
++#endif()
+ 
+ ament_export_include_directories(include)
+ ament_export_libraries(libfmilib.a libfmilib_shared.so)
diff --git a/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor_1.0.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor_1.0.1-1.bbappend
new file mode 100644
index 00000000000..e130042df5a
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/fmilibrary-vendor/fmilibrary-vendor_1.0.1-1.bbappend
@@ -0,0 +1,13 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    fmilibrary \
+"
+
+# backport equivalent of following changes:
+# foxy: https://github.com/ros/rosdistro/commit/d6f5a0ca09f6d15c4e1ae4beb85b25447355c120
+# dashing: https://github.com/ros/rosdistro/commit/2617ae2b86d9eacee6f7b6a66472255047da87ba
+SRC_URI = "git://github.com/ros2-gbp/fmilibrary_vendor-release;${ROS_BRANCH};protocol=https"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-just-depend-on-system-fmilibrary-with.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/foonathan-memory-vendor/foonathan-memory-vendor_1.0.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/foonathan-memory-vendor/foonathan-memory-vendor_1.0.0-2.bbappend
new file mode 100644
index 00000000000..36787377af6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/foonathan-memory-vendor/foonathan-memory-vendor_1.0.0-2.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    foonathan-memory \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/gazebo-ros-pkgs/gazebo-msgs_3.5.2-4.bbappend b/meta-ros2-galactic/recipes-bbappends/gazebo-ros-pkgs/gazebo-msgs_3.5.2-4.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/gazebo-ros-pkgs/gazebo-msgs_3.5.2-4.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/geographic-info/geodesy_1.0.4-4.bbappend b/meta-ros2-galactic/recipes-bbappends/geographic-info/geodesy_1.0.4-4.bbappend
new file mode 100644
index 00000000000..09de87cd754
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/geographic-info/geodesy_1.0.4-4.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# ROS2 is python3-only and python2 is blacklisted here
+ROS_BUILD_DEPENDS_remove = "python-catkin-pkg"
+ROS_BUILD_DEPENDS_append = " python3-catkin-pkg"
diff --git a/meta-ros2-galactic/recipes-bbappends/geographic-info/geographic-msgs_1.0.4-4.bbappend b/meta-ros2-galactic/recipes-bbappends/geographic-info/geographic-msgs_1.0.4-4.bbappend
new file mode 100644
index 00000000000..e198e444ab9
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/geographic-info/geographic-msgs_1.0.4-4.bbappend
@@ -0,0 +1,15 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    python-cmake-module-native \
+    python3-empy-native \
+    python3-lark-parser-native \
+    python3-numpy-native \
+    rosidl-adapter-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-parser-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/geometry2/tf2-msgs_0.17.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/geometry2/tf2-msgs_0.17.1-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/geometry2/tf2-msgs_0.17.1-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/geometry2/tf2_0.17.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/geometry2/tf2_0.17.1-1.bbappend
new file mode 100644
index 00000000000..2b822cd1a5d
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/geometry2/tf2_0.17.1-1.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+DEPENDS += "rosidl-cmake"
diff --git a/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor/0001-CMakeLists.txt-prevent-building-google-benchmark-wit.patch b/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor/0001-CMakeLists.txt-prevent-building-google-benchmark-wit.patch
new file mode 100644
index 00000000000..15ac7bac6e0
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor/0001-CMakeLists.txt-prevent-building-google-benchmark-wit.patch
@@ -0,0 +1,39 @@
+From b734018ba25b272fc9e0526f599e8f76e5f4a1bd Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 30 Jul 2020 14:37:02 -0700
+Subject: [PATCH] CMakeLists.txt: prevent building google benchmark with
+ ExternalProject
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 11 ++++++-----
+ 1 file changed, 6 insertions(+), 5 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3b89edc..fbd8918 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -73,15 +73,16 @@ macro(build_benchmark)
+ endmacro()
+ 
+ if(NOT benchmark_FOUND OR "${benchmark_VERSION}" VERSION_LESS 1.5.0)
+-  build_benchmark()
++  message(FATAL_ERROR "benchmark not found, missing dependency on google-benchmark or version less than 1.5.0, found ${benchmark_VERSION}")
+ elseif(benchmark_FOUND)
+   # Ubuntu Focal has a packaging bug where libbenchmark_main has no symbols,
+   # causing linker failures. I'm pretty sure it shouldn't be a static library.
+   # Details: https://bugs.launchpad.net/ubuntu/+source/benchmark/+bug/1887872
+-  get_target_property(_benchmark_main_type benchmark::benchmark_main TYPE)
+-  if(NOT "${_benchmark_main_type}" STREQUAL "SHARED_LIBRARY")
+-    build_benchmark()
+-  endif()
++  # both libraries are static in OE build
++  # get_target_property(_benchmark_main_type benchmark::benchmark_main TYPE)
++  # if(NOT "${_benchmark_main_type}" STREQUAL "SHARED_LIBRARY")
++  #   message(FATAL_ERROR "libbenchmark_main has no symbols, causing linker failures. Details: https://bugs.launchpad.net/ubuntu/+source/benchmark/+bug/1887872")
++  # endif()
+ endif()
+ 
+ install(
diff --git a/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor_0.0.6-1.bbappend b/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor_0.0.6-1.bbappend
new file mode 100644
index 00000000000..26a6c49b522
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/google-benchmark-vendor/google-benchmark-vendor_0.0.6-1.bbappend
@@ -0,0 +1,4 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-prevent-building-google-benchmark-wit.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/googletest/gmock-vendor_%.bbappend b/meta-ros2-galactic/recipes-bbappends/googletest/gmock-vendor_%.bbappend
new file mode 100644
index 00000000000..38ff16b8114
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/googletest/gmock-vendor_%.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+do_install_append() {
+    rm -rf ${D}${prefix}/src
+}
diff --git a/meta-ros2-galactic/recipes-bbappends/googletest/gtest-vendor_%.bbappend b/meta-ros2-galactic/recipes-bbappends/googletest/gtest-vendor_%.bbappend
new file mode 100644
index 00000000000..38ff16b8114
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/googletest/gtest-vendor_%.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+do_install_append() {
+    rm -rf ${D}${prefix}/src
+}
diff --git a/meta-ros2-galactic/recipes-bbappends/gps-umd/gps-msgs_1.0.4-1.bbappend b/meta-ros2-galactic/recipes-bbappends/gps-umd/gps-msgs_1.0.4-1.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/gps-umd/gps-msgs_1.0.4-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/grbl-msgs/grbl-msgs_0.0.2-4.bbappend b/meta-ros2-galactic/recipes-bbappends/grbl-msgs/grbl-msgs_0.0.2-4.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/grbl-msgs/grbl-msgs_0.0.2-4.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-Fix-build-with-gcc-11.patch b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-Fix-build-with-gcc-11.patch
new file mode 100644
index 00000000000..95b16f09ff0
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-Fix-build-with-gcc-11.patch
@@ -0,0 +1,43 @@
+From b946306384520f98d35b407f3735261770beff90 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Tue, 4 May 2021 23:59:17 -0700
+Subject: [PATCH] Fix build with gcc-11
+
+* fixes:
+| [1/9] Building CXX object examples/CMakeFiles/cpptoml-conversions.dir/conversions.cpp.o
+| FAILED: examples/CMakeFiles/cpptoml-conversions.dir/conversions.cpp.o
+| /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/recipe-sysroot-native/usr/bin/i686-webos-linux/i686-webos-linux-g++  -I/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/include -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0=/usr/src/debug/iceoryx-posh/0.99.7-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0=/usr/src/debug/iceoryx-posh/0.99.7-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/recipe-sysroot -Wall -pedantic -std=c++11 -MD -MT examples/CMakeFiles/cpptoml-conversions.dir/conversions.cpp.o -MF examples/CMakeFiles/cpptoml-conversions.dir/conversions.cpp.o.d -o examples/CMakeFiles/cpptoml-conversions.dir/conversions.cpp.o -c /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/examples/conversions.cpp
+| In file included from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/examples/conversions.cpp:4:
+| /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/include/cpptoml.h: In static member function 'static cpptoml::value_traits<T, typename std::enable_if<(((! cpptoml::valid_value_or_string_convertible<T>::value) && (! std::is_floating_point<typename std::decay<_Tp>::type>::value)) && std::is_signed<typename std::decay<_Tp>::type>::value)>::type>::value_type cpptoml::value_traits<T, typename std::enable_if<(((! cpptoml::valid_value_or_string_convertible<T>::value) && (! std::is_floating_point<typename std::decay<_Tp>::type>::value)) && std::is_signed<typename std::decay<_Tp>::type>::value)>::type>::construct(T&&)':
+| /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/include/cpptoml.h:344:25: error: 'numeric_limits' is not a member of 'std'
+|   344 |         if (val < (std::numeric_limits<int64_t>::min)())
+|       |                         ^~~~~~~~~~~~~~
+| /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/include/cpptoml.h:344:47: error: expected primary-expression before '>' token
+|   344 |         if (val < (std::numeric_limits<int64_t>::min)())
+|       |                                               ^
+| /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-posh/0.99.7-1-r0/build/dependencies/cpptoml/src/include/cpptoml.h:344:50: error: '::min' has not been declared; did you mean 'std::min'?
+|   344 |         if (val < (std::numeric_limits<int64_t>::min)())
+|       |                                                  ^~~
+|       |                                                  std::min
+
+Upstream-Status: Pending
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ include/cpptoml.h | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/include/cpptoml.h b/include/cpptoml.h
+index 5a00da3..9ed2314 100644
+--- a/include/cpptoml.h
++++ b/include/cpptoml.h
+@@ -21,6 +21,7 @@
+ #include <string>
+ #include <unordered_map>
+ #include <vector>
++#include <limits>
+ 
+ #if __cplusplus > 201103L
+ #define CPPTOML_DEPRECATED(reason) [[deprecated(reason)]]
+-- 
+2.17.1
+
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-cpptoml-fetch-with-bitbake-fetcher-instead-of-Extern.patch b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-cpptoml-fetch-with-bitbake-fetcher-instead-of-Extern.patch
new file mode 100644
index 00000000000..dd096dc1ec3
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh/0001-cpptoml-fetch-with-bitbake-fetcher-instead-of-Extern.patch
@@ -0,0 +1,42 @@
+From b89195dac989ad0df780e6d40411323360fa8cf7 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Tue, 4 May 2021 23:57:52 -0700
+Subject: [PATCH] cpptoml: fetch with bitbake fetcher instead of
+ ExternalProject_add
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ cmake/cpptoml/CMakeLists.txt   | 2 +-
+ cmake/cpptoml/cpptoml.cmake.in | 4 +---
+ 2 files changed, 2 insertions(+), 4 deletions(-)
+
+diff --git a/cmake/cpptoml/CMakeLists.txt b/cmake/cpptoml/CMakeLists.txt
+index 2e950a8..91ed378 100644
+--- a/cmake/cpptoml/CMakeLists.txt
++++ b/cmake/cpptoml/CMakeLists.txt
+@@ -41,7 +41,7 @@ endif()
+ 
+ # set download config, source and build paths
+ set(DOWNLOAD_CONFIG_DIR ${CMAKE_BINARY_DIR}/dependencies/cpptoml/download)
+-set(SOURCE_DIR ${CMAKE_BINARY_DIR}/dependencies/cpptoml/src)
++set(SOURCE_DIR ${CMAKE_SOURCE_DIR}/cpptoml-upstream)
+ set(BUILD_DIR ${CMAKE_BINARY_DIR}/dependencies/cpptoml/build)
+ set(INSTALL_DIR ${CMAKE_BINARY_DIR}/dependencies/install)
+ 
+diff --git a/cmake/cpptoml/cpptoml.cmake.in b/cmake/cpptoml/cpptoml.cmake.in
+index be4fdf1..8bcfa11 100644
+--- a/cmake/cpptoml/cpptoml.cmake.in
++++ b/cmake/cpptoml/cpptoml.cmake.in
+@@ -20,9 +20,7 @@ project(cpptoml-download NONE)
+ 
+ include(ExternalProject)
+ ExternalProject_Add(ext_cpptoml
+-  GIT_REPOSITORY    https://github.com/skystrife/cpptoml.git
+-  GIT_TAG           v0.1.1
+-  SOURCE_DIR        "${CMAKE_BINARY_DIR}/dependencies/cpptoml/src"
++  SOURCE_DIR        "${CMAKE_SOURCE_DIR}/cpptoml-upstream"
+   BINARY_DIR        "${CMAKE_BINARY_DIR}/dependencies/cpptoml/build"
+   CONFIGURE_COMMAND ""
+   BUILD_COMMAND     ""
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh_0.99.7-1.bbappend b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh_0.99.7-1.bbappend
new file mode 100644
index 00000000000..0a54936215e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-posh_0.99.7-1.bbappend
@@ -0,0 +1,30 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# ERROR: iceoryx-posh-0.99.7-1-r0 do_package: QA Issue: iceoryx-posh: Files/directories were installed but not shipped in any package:
+#  /usr/etc
+#  /usr/etc/roudi_config_example.toml
+# Please set FILES such that these items are packaged. Alternatively if they are unneeded, avoid installing them or delete them within do_install.
+# iceoryx-posh: 2 installed and not shipped files. [installed-vs-shipped]
+do_install_append () {
+    if [ -d ${D}${prefix}${sysconfdir} ] ; then
+        mv ${D}${prefix}${sysconfdir} ${D}${sysconfdir}
+    fi
+}
+
+# iceoryx-binding-c/0.99.7-1-r0/recipe-sysroot/usr/lib/cmake/iceoryx_posh/iceoryx_poshTargets.cmake:109 (message):
+# expects the binary to exist:
+# The imported target "iceoryx_posh::iox-roudi" references the file
+# "TOPDIR/tmp-glibc/work/qemux86-webos-linux/iceoryx-binding-c/0.99.7-1-r0/recipe-sysroot/usr/bin/iox-roudi"
+# OE doesn't stage ${bindir} for target recipes, but in this case the iceoryx_posh::iox-roudi isn't
+# being called during the cross-build, so we can include it just to keep CMake happy
+sysroot_stage_all_append() {
+    sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
+}
+
+# v0.1.1 tag
+SRCREV_cpptoml = "0bfa56fc8361e1715de05709b349bc44d910c7db"
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "git://github.com/skystrife/cpptoml.git;name=cpptoml;destsuffix=git/cpptoml-upstream \
+    file://0001-Fix-build-with-gcc-11.patch;patchdir=cpptoml-upstream \
+    file://0001-cpptoml-fetch-with-bitbake-fetcher-instead-of-Extern.patch \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-Fix-build-with-gcc-11.patch b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-Fix-build-with-gcc-11.patch
new file mode 100644
index 00000000000..8bd7207fbc3
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-Fix-build-with-gcc-11.patch
@@ -0,0 +1,75 @@
+From 626d6886671e1eac636e27f31c5f5207c9ff524d Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Tue, 4 May 2021 23:34:48 -0700
+Subject: [PATCH] Fix build with gcc-11
+
+* fixes:
+FAILED: CMakeFiles/iceoryx_utils.dir/source/relocatable_pointer/base_relative_pointer.cpp.o
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot-native/usr/bin/i686-webos-linux/i686-webos-linux-g++ -Diceoryx_utils_EXPORTS -I/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include -I/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/platform/linux/include -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0=/usr/src/debug/iceoryx-utils/0.99.7-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0=/usr/src/debug/iceoryx-utils/0.99.7-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot -fPIC -W -Wall -Wextra -Wuninitialized -Wpedantic -Wstrict-aliasing -Wcast-align -Wno-noexcept-type -Wconversion -std=gnu++14 -MD -MT CMakeFiles/iceoryx_utils.dir/source/relocatable_pointer/base_relative_pointer.cpp.o -MF CMakeFiles/iceoryx_utils.dir/source/relocatable_pointer/base_relative_pointer.cpp.o.d -o CMakeFiles/iceoryx_utils.dir/source/relocatable_pointer/base_relative_pointer.cpp.o -c /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/source/relocatable_pointer/base_relative_pointer.cpp
+In file included from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp:21,
+                 from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/source/relocatable_pointer/base_relative_pointer.cpp:18:
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp:52:45: error: 'numeric_limits' is not a member of 'std'
+   52 |     static constexpr id_t INVALID_ID = std::numeric_limits<id_t>::max();
+      |                                             ^~~~~~~~~~~~~~
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp:52:64: error: expected primary-expression before '>' token
+   52 |     static constexpr id_t INVALID_ID = std::numeric_limits<id_t>::max();
+      |                                                                ^
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp:52:67: error: '::max' has not been declared; did you mean 'std::max'?
+   52 |     static constexpr id_t INVALID_ID = std::numeric_limits<id_t>::max();
+      |                                                                   ^~~
+      |                                                                   std::max
+In file included from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot/usr/include/c++/11.1.0/algorithm:62,
+                 from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/cxx/vector.hpp:20,
+                 from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp:21,
+                 from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp:21,
+                 from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/source/relocatable_pointer/base_relative_pointer.cpp:18:
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/recipe-sysroot/usr/include/c++/11.1.0/bits/stl_algo.h:3467:5: note: 'std::max' declared here
+ 3467 |     max(initializer_list<_Tp> __l, _Compare __comp)
+      |     ^~~
+In file included from /jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/source/relocatable_pointer/base_relative_pointer.cpp:18:
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp:173:50: error: 'numeric_limits' is not a member of 'std'
+  173 |     static constexpr id_t NULL_POINTER_ID = std::numeric_limits<id_t>::max();
+      |                                                  ^~~~~~~~~~~~~~
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp:173:69: error: expected primary-expression before '>' token
+  173 |     static constexpr id_t NULL_POINTER_ID = std::numeric_limits<id_t>::max();
+      |                                                                     ^
+/jenkins/mjansa/build/ros/webos-rolling-honister/tmp-glibc/work/qemux86-webos-linux/iceoryx-utils/0.99.7-1-r0/git/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp:173:72: error: '::max' has not been declared; did you mean 'std::max'?
+  173 |     static constexpr id_t NULL_POINTER_ID = std::numeric_limits<id_t>::max();
+      |                                                                        ^~~
+      |                                                                        std::max
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ .../internal/relocatable_pointer/base_relative_pointer.hpp       | 1 +
+ .../internal/relocatable_pointer/pointer_repository.hpp          | 1 +
+ 2 files changed, 2 insertions(+)
+
+diff --git a/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp b/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp
+index 9ad88e5..dd6711b 100644
+--- a/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp
++++ b/include/iceoryx_utils/internal/relocatable_pointer/base_relative_pointer.hpp
+@@ -20,6 +20,7 @@
+ 
+ #include "pointer_repository.hpp"
+ 
++#include <limits>
+ #include <cstdint>
+ 
+ namespace iox
+diff --git a/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp b/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp
+index 1f9f57d..927af4e 100644
+--- a/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp
++++ b/include/iceoryx_utils/internal/relocatable_pointer/pointer_repository.hpp
+@@ -20,6 +20,7 @@
+ 
+ #include "iceoryx_utils/cxx/vector.hpp"
+ #include <iostream>
++#include <limits>
+ 
+ #include <assert.h>
+ 
+-- 
+2.17.1
+
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-IceoryxPackageHelper.cmake-change-DESTINATION_CONFIG.patch b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-IceoryxPackageHelper.cmake-change-DESTINATION_CONFIG.patch
new file mode 100644
index 00000000000..4a66b6f0035
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils/0001-IceoryxPackageHelper.cmake-change-DESTINATION_CONFIG.patch
@@ -0,0 +1,89 @@
+From 4f53e1beb966c46cc4140348aaea5c0694b98a38 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 16 Apr 2021 08:50:47 +0000
+Subject: [PATCH] IceoryxPackageHelper.cmake: change DESTINATION_CONFIGDIR to
+ share/cmake/Modules
+
+* use separate variable DESTINATION_CONFIGDIR for:
+  image/usr/lib/cmake/iceoryx_utils/iceoryx_utilsConfig.cmake
+  image/usr/lib/cmake/iceoryx_utils/iceoryx_utilsConfigVersion.cmake
+  image/usr/lib/cmake/iceoryx_utils/iceoryx_utilsTargets.cmake
+  image/usr/lib/cmake/iceoryx_utils/iceoryx_utilsTargets-noconfig.cmake
+  and DESTINATION_MODULEDIR for:
+  image/usr/share/cmake/Modules/IceoryxPlatform.cmake
+  image/usr/share/cmake/Modules/IceoryxVersion.cmake
+  image/usr/share/cmake/Modules/IceoryxPackageHelper.cmake
+
+* this way it will be included in the default CMAKE_MODULE_PATH
+  "${STAGING_DATADIR}/cmake/Modules/" set by cmake.bbclass:
+  https://github.com/openembedded/openembedded-core/blob/e9180c9575f0723b51915a0da58452511b6b03bf/meta/classes/cmake.bbclass#L136
+
+* fixes iceoryx-posh failure:
+CMake Error at CMakeLists.txt:38 (include):
+  include could not find load file:
+
+    IceoryxPackageHelper
+
+CMake Error at CMakeLists.txt:39 (include):
+  include could not find load file:
+
+    IceoryxPlatform
+
+-- [i] <<<<<<<<<<<<< Start iceoryx_posh configuration: >>>>>>>>>>>>>
+-- [i] Using m:n communication only!
+-- [i] IOX_MAX_PUBLISHERS:512
+-- [i] IOX_MAX_SUBSCRIBERS:1024
+-- [i] IOX_MAX_INTERFACE_NUMBER:4
+-- [i] IOX_MAX_SUBSCRIBERS_PER_PUBLISHER:256
+-- [i] IOX_MAX_CHUNKS_ALLOCATED_PER_PUBLISHER_SIMULTANEOUSLY:8
+-- [i] IOX_MAX_PUBLISHER_HISTORY:16
+-- [i] IOX_MAX_CHUNKS_HELD_PER_SUBSCRIBER_SIMULTANEOUSLY:256
+-- [i] <<<<<<<<<<<<<< End iceoryx_posh configuration: >>>>>>>>>>>>>>
+CMake Error at CMakeLists.txt:64 (setup_package_name_and_create_files):
+  Unknown CMake command "setup_package_name_and_create_files".
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt                   | 2 +-
+ cmake/Config.cmake.in            | 2 +-
+ cmake/IceoryxPackageHelper.cmake | 1 +
+ 3 files changed, 3 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d8b56dd..c4f21bc 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -283,7 +283,7 @@ install(
+         cmake/IceoryxPackageHelper.cmake
+         cmake/IceoryxPlatform.cmake
+         cmake/IceoryxVersion.cmake
+-    DESTINATION ${DESTINATION_CONFIGDIR}
++    DESTINATION ${DESTINATION_MODULEDIR}
+ )
+ 
+ if(BUILD_TEST)
+diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
+index c03b3b5..6b6fd86 100644
+--- a/cmake/Config.cmake.in
++++ b/cmake/Config.cmake.in
+@@ -19,5 +19,5 @@
+ include(CMakeFindDependencyMacro)
+ 
+ include("${CMAKE_CURRENT_LIST_DIR}/@TARGETS_EXPORT_NAME@.cmake")
+-list(APPEND CMAKE_MODULE_PATH "@CMAKE_INSTALL_PREFIX@/@DESTINATION_CONFIGDIR@")
++list(APPEND CMAKE_MODULE_PATH "@CMAKE_INSTALL_PREFIX@/@DESTINATION_MODULEDIR@")
+ check_required_components("@PROJECT_NAME@")
+diff --git a/cmake/IceoryxPackageHelper.cmake b/cmake/IceoryxPackageHelper.cmake
+index f3aabf5..f222b13 100644
+--- a/cmake/IceoryxPackageHelper.cmake
++++ b/cmake/IceoryxPackageHelper.cmake
+@@ -34,6 +34,7 @@ Macro(setup_package_name_and_create_files)
+     set(DESTINATION_LIBDIR lib )
+     set(DESTINATION_INCLUDEDIR include/${PARAMS_PROJECT_PREFIX})
+     set(DESTINATION_CONFIGDIR lib/cmake/${PARAMS_NAME} )
++    set(DESTINATION_MODULEDIR share/cmake/Modules )
+ 
+     # create package files
+     include(CMakePackageConfigHelpers)
diff --git a/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils_0.99.7-1.bbappend b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils_0.99.7-1.bbappend
new file mode 100644
index 00000000000..69a6f6670e9
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/iceoryx/iceoryx-utils_0.99.7-1.bbappend
@@ -0,0 +1,19 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# libatomic is just one of the packages provided by gcc-runtime recipe
+# but gcc-runtime recipe doesn't have libatomic in PROVIDES, so we cannot map
+# libatomic in rosdep to libatomic (without adding libatomic to PROVIDES in gcc-runtime
+# bbappend). And we cannot leave gcc-runtime in ROS_EXEC_DEPENDS, because
+# gcc-runtime recipe doesn't have PN in PACKAGES (and we would still depend
+# on do_package shlibs handling to add runtime dependency on actual package
+# with libatomic library)
+ROS_EXEC_DEPENDS_remove = "gcc-runtime"
+# there is no native support for gcc-runtime, so also no libatomic, add it only for target builds
+ROS_EXEC_DEPENDS_append-class-target = " libatomic"
+# and also remove it from build time depends when buiding native rc-utils
+DEPENDS_remove_class-native = "gcc-runtime-native gcc-runtime"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-IceoryxPackageHelper.cmake-change-DESTINATION_CONFIG.patch \
+    file://0001-Fix-build-with-gcc-11.patch \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0001-CMakeLists.txt-enable-C-language-to-fix-try_compile-.patch b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0001-CMakeLists.txt-enable-C-language-to-fix-try_compile-.patch
new file mode 100644
index 00000000000..e1fd153bc8d
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0001-CMakeLists.txt-enable-C-language-to-fix-try_compile-.patch
@@ -0,0 +1,112 @@
+From c1bc512b3b024b160d73516f84450a4fc271e2ea Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 26 Jun 2020 15:21:04 +0000
+Subject: [PATCH] CMakeLists.txt: enable C language to fix try_compile test
+ during cross-compile
+
+* works around unwind detection:
+
+-- The CXX compiler identification is GNU 9.3.0
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Looking for libunwind.h
+CMake Error at /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/share/cmake-3.16/Modules/CheckIncludeFile.cmake:93 (try_compile):
+  Unknown extension ".c" for file
+
+    /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c
+
+  try_compile() works only for enabled languages.  Currently these are:
+
+    CXX
+
+  See project() command to enable other languages.
+Call Stack (most recent call first):
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/glog/FindLibunwind.cmake:9 (check_include_file)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/glog/glog-config.cmake:32 (find_dependency)
+  modules/camera/src/libifm3d_camera/CMakeLists.txt:13 (find_package)
+
+-- Looking for libunwind.h - not found
+-- Looking for unwind.h
+CMake Error at /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/share/cmake-3.16/Modules/CheckIncludeFile.cmake:93 (try_compile):
+  Unknown extension ".c" for file
+
+    /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c
+
+  try_compile() works only for enabled languages.  Currently these are:
+
+    CXX
+
+  See project() command to enable other languages.
+Call Stack (most recent call first):
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/glog/FindLibunwind.cmake:10 (check_include_file)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot-native/usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/glog/glog-config.cmake:32 (find_dependency)
+  modules/camera/src/libifm3d_camera/CMakeLists.txt:13 (find_package)
+
+-- Looking for unwind.h - not found
+Can't find libunwind library
+CMake Warning at modules/camera/CMakeLists.txt:20 (message):
+  Skipping libifm3d-camera unit tests!
+
+-- Looking for C++ include pthread.h
+-- Looking for C++ include pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE
+-- Found Boost: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/Boost-1.72.0/BoostConfig.cmake (found version "1.72.0") found components: system
+Can't find libunwind library
+CMake Warning at modules/framegrabber/CMakeLists.txt:15 (message):
+  Skipping libifm3d-framegrabber unit tests!
+
+Can't find libunwind library
+-- Found CURL: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libcurl.so (found version "7.69.1")
+CMake Warning at modules/swupdater/CMakeLists.txt:16 (message):
+  Skipping libifm3d-swupdater unit tests!
+
+-- Found OpenCV: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr (found version "4.1.0") found components: core
+-- Checking for module 'eigen3'
+--   Found eigen3, version 3.3.7
+-- Found eigen: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/include/eigen3
+-- Found Boost: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/include (found suitable version "1.72.0", minimum required is "1.40.0") found components: system filesystem thread date_time iostreams chrono atomic regex
+-- looking for PCL_COMMON
+-- Found PCL_COMMON: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libpcl_common.so
+-- Found PCL: optimized;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_system.so.1.72.0;debug;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_system-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so;-lpthread;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so;optimized;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libpcl_common.so;debug;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libpcl_common.so;optimized;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_system.so.1.72.0;debug;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_system-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_filesystem-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_thread-mt.so;-lpthread;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_date_time-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_iostreams-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_chrono-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_atomic-mt.so;/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/libboost_regex-mt.so (Required is at least version "1.7")
+Can't find libunwind library
+CMake Warning at modules/image/CMakeLists.txt:23 (message):
+  Skipping libifm3d-image unit tests!
+
+Can't find libunwind library
+-- Found Boost: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/recipe-sysroot/usr/lib/cmake/Boost-1.72.0/BoostConfig.cmake (found version "1.72.0") found components: program_options
+-- Configuring incomplete, errors occurred!
+See also "/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/build/CMakeFiles/CMakeOutput.log".
+See also "/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/ifm3d-core/0.18.0-4-r0/build/CMakeFiles/CMakeError.log".
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 246afa7..3dcc19b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ cmake_minimum_required(VERSION 3.5)
+ cmake_policy(SET CMP0048 NEW)
+ # Manage version number here: Major.Minor.Patch (we don't use "tweak")
+-project(IFM3D VERSION 0.18.0 LANGUAGES CXX)
++project(IFM3D VERSION 0.18.0 LANGUAGES C CXX)
+ set(GIT_PROJECT_NAME "ifm3d")
+ 
+ # Make our cmake functions accessible
diff --git a/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0002-CMakeLists.txt-drop-s.patch b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0002-CMakeLists.txt-drop-s.patch
new file mode 100644
index 00000000000..74dfdfc0416
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core/0002-CMakeLists.txt-drop-s.patch
@@ -0,0 +1,24 @@
+From 94e52058335f9fee132214fa9121fb4a78279e82 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 26 Jun 2020 08:26:32 -0700
+Subject: [PATCH] CMakeLists.txt: drop -s
+
+Upstream-Status: Pending
+
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 246afa7..dbc9fd1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -50,7 +50,7 @@ if(WIN32)
+   add_definitions(-D_CRT_SECURE_NO_WARNINGS)
+   add_definitions(-DBOOST_ALL_NO_LIB)
+ else(WIN32)
+-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-literal-suffix -s")
++  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-literal-suffix")
+ endif(WIN32)
+ 
+ # create the cmake-package files
diff --git a/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core_0.18.0-5.bbappend b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core_0.18.0-5.bbappend
new file mode 100644
index 00000000000..8418d5454db
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ifm3d-core/ifm3d-core_0.18.0-5.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-enable-C-language-to-fix-try_compile-.patch \
+    file://0002-CMakeLists.txt-drop-s.patch \
+"
+
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/image-pipeline/depth-image-proc_2.2.1-2.bbappend b/meta-ros2-galactic/recipes-bbappends/image-pipeline/depth-image-proc_2.2.1-2.bbappend
new file mode 100644
index 00000000000..8d83be207f7
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/image-pipeline/depth-image-proc_2.2.1-2.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    eigen3-cmake-module \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/image-transport-plugins/theora-image-transport_2.3.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/image-transport-plugins/theora-image-transport_2.3.0-4.bbappend
new file mode 100644
index 00000000000..7ac3d61a137
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/image-transport-plugins/theora-image-transport_2.3.0-4.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy/0001-CMakeLists.txt-use-pkg-config-to-find-sdl2.patch b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy/0001-CMakeLists.txt-use-pkg-config-to-find-sdl2.patch
new file mode 100644
index 00000000000..877243c8081
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy/0001-CMakeLists.txt-use-pkg-config-to-find-sdl2.patch
@@ -0,0 +1,296 @@
+From 34429522dda7f695e14853a709ec3d2692ecbaee Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 26 Jun 2020 15:05:27 +0000
+Subject: [PATCH] CMakeLists.txt: use pkg-config to find sdl2
+
+* fixes missing sysroot prefix:
+
+DEBUG: Executing shell function do_configure
+-- The C compiler identification is GNU 9.3.0
+-- The CXX compiler identification is GNU 9.3.0
+-- Check for working C compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-gcc
+-- Check for working C compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-gcc -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake_ros: 0.9.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/share/ament_cmake_ros/cmake)
+-- Found PythonInterp: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/python3-native/python3 (found suitable version "3.8.2", minimum required is "3")
+-- Using PYTHON_EXECUTABLE: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/python3-native/python3
+-- Found rclcpp: 2.0.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+CMake Warning at /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_cmake/cmake/rosidl_cmake-extras.cmake:30 (find_package):
+  By not providing "Findrosidl_adapter.cmake" in CMAKE_MODULE_PATH this
+  project has asked CMake to find a package configuration file provided by
+  "rosidl_adapter", but CMake did not find one.
+
+  Could not find a package configuration file provided by "rosidl_adapter"
+  with any of the following names:
+
+    rosidl_adapterConfig.cmake
+    rosidl_adapter-config.cmake
+
+  Add the installation prefix of "rosidl_adapter" to CMAKE_PREFIX_PATH or set
+  "rosidl_adapter_DIR" to a directory containing one of the above files.  If
+  "rosidl_adapter" provides a separate development package or SDK, be sure it
+  has been installed.
+Call Stack (most recent call first):
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_cmake/cmake/rosidl_cmakeConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_generator_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_generator_c/cmake/rosidl_generator_cConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:11 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_default_runtime/cmake/rosidl_default_runtime-extras.cmake:12 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_default_runtime/cmake/rosidl_default_runtimeConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl/cmake/rclConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
+  CMakeLists.txt:14 (find_package)
+
+-- Found OpenSSL: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/lib/libcrypto.so (found version "1.1.1g")
+-- Found FastRTPS: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/include
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE
+-- Found rclcpp_components: 2.0.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp_components/cmake)
+-- Found sdl2_vendor: 2.4.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/sdl2_vendor/cmake)
+-- Found sensor_msgs: 2.0.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/sensor_msgs/cmake)
+-- Configuring done
+CMake Error in CMakeLists.txt:
+  Imported target "SDL2::SDL2" includes non-existent path
+
+    "/usr/include/SDL2"
+
+  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:
+
+  * The path was deleted, renamed, or moved to another location.
+
+  * An install or uninstall procedure did not complete successfully.
+
+  * The installation package was faulty and references files it does not
+  provide.
+
+CMake Error in CMakeLists.txt:
+  Imported target "SDL2::SDL2" includes non-existent path
+
+    "/usr/include/SDL2"
+
+  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:
+
+  * The path was deleted, renamed, or moved to another location.
+
+  * An install or uninstall procedure did not complete successfully.
+
+  * The installation package was faulty and references files it does not
+  provide.
+
+-- Generating done
+CMake Warning:
+  Manually-specified variables were not used by the project:
+
+    CMAKE_INSTALL_BINDIR
+    CMAKE_INSTALL_DATAROOTDIR
+    CMAKE_INSTALL_INCLUDEDIR
+    CMAKE_INSTALL_LIBDIR
+    CMAKE_INSTALL_LIBEXECDIR
+    CMAKE_INSTALL_LOCALSTATEDIR
+    CMAKE_INSTALL_SBINDIR
+    CMAKE_INSTALL_SHAREDSTATEDIR
+    CMAKE_INSTALL_SYSCONFDIR
+    LIB_SUFFIX
+    PYTHON_SOABI
+    Python3_EXECUTABLE
+    Python_EXECUTABLE
+
+CMake Generate step failed.  Build files cannot be regenerated correctly.
+WARNING: exit code 1 from a shell command.
+ERROR: Execution of '/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/temp/run.do_configure.63504' failed with exit code 1:
+-- The C compiler identification is GNU 9.3.0
+-- The CXX compiler identification is GNU 9.3.0
+-- Check for working C compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-gcc
+-- Check for working C compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-gcc -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++
+-- Check for working CXX compiler: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/x86_64-oe-linux/x86_64-oe-linux-g++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake_ros: 0.9.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/share/ament_cmake_ros/cmake)
+-- Found PythonInterp: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/python3-native/python3 (found suitable version "3.8.2", minimum required is "3")
+-- Using PYTHON_EXECUTABLE: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot-native/usr/bin/python3-native/python3
+-- Found rclcpp: 2.0.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+CMake Warning at /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_cmake/cmake/rosidl_cmake-extras.cmake:30 (find_package):
+  By not providing "Findrosidl_adapter.cmake" in CMAKE_MODULE_PATH this
+  project has asked CMake to find a package configuration file provided by
+  "rosidl_adapter", but CMake did not find one.
+
+  Could not find a package configuration file provided by "rosidl_adapter"
+  with any of the following names:
+
+    rosidl_adapterConfig.cmake
+    rosidl_adapter-config.cmake
+
+  Add the installation prefix of "rosidl_adapter" to CMAKE_PREFIX_PATH or set
+  "rosidl_adapter_DIR" to a directory containing one of the above files.  If
+  "rosidl_adapter" provides a separate development package or SDK, be sure it
+  has been installed.
+Call Stack (most recent call first):
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_cmake/cmake/rosidl_cmakeConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_generator_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_generator_c/cmake/rosidl_generator_cConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:11 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_default_runtime/cmake/rosidl_default_runtime-extras.cmake:12 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rosidl_default_runtime/cmake/rosidl_default_runtimeConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rcl/cmake/rclConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
+  /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
+  CMakeLists.txt:14 (find_package)
+
+-- Found OpenSSL: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/lib/libcrypto.so (found version "1.1.1g")
+-- Found FastRTPS: /jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/include
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE
+-- Found rclcpp_components: 2.0.0 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/rclcpp_components/cmake)
+-- Found sdl2_vendor: 2.4.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/sdl2_vendor/cmake)
+-- Found sensor_msgs: 2.0.1 (/jenkins/mjansa/build/ros/ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/joy/2.4.1-1-r0/recipe-sysroot/usr/share/sensor_msgs/cmake)
+-- Configuring done
+CMake Error in CMakeLists.txt:
+  Imported target "SDL2::SDL2" includes non-existent path
+
+    "/usr/include/SDL2"
+
+  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:
+
+  * The path was deleted, renamed, or moved to another location.
+
+  * An install or uninstall procedure did not complete successfully.
+
+  * The installation package was faulty and references files it does not
+  provide.
+
+CMake Error in CMakeLists.txt:
+  Imported target "SDL2::SDL2" includes non-existent path
+
+    "/usr/include/SDL2"
+
+  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:
+
+  * The path was deleted, renamed, or moved to another location.
+
+  * An install or uninstall procedure did not complete successfully.
+
+  * The installation package was faulty and references files it does not
+  provide.
+
+-- Generating done
+CMake Warning:
+  Manually-specified variables were not used by the project:
+
+    CMAKE_INSTALL_BINDIR
+    CMAKE_INSTALL_DATAROOTDIR
+    CMAKE_INSTALL_INCLUDEDIR
+    CMAKE_INSTALL_LIBDIR
+    CMAKE_INSTALL_LIBEXECDIR
+    CMAKE_INSTALL_LOCALSTATEDIR
+    CMAKE_INSTALL_SBINDIR
+    CMAKE_INSTALL_SHAREDSTATEDIR
+    CMAKE_INSTALL_SYSCONFDIR
+    LIB_SUFFIX
+    PYTHON_SOABI
+    Python3_EXECUTABLE
+    Python_EXECUTABLE
+
+CMake Generate step failed.  Build files cannot be regenerated correctly.
+WARNING: exit code 1 from a shell command.
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 14 ++++++++++----
+ 1 file changed, 10 insertions(+), 4 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 946a5ba..56e7bf0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -13,8 +13,10 @@ endif()
+ find_package(ament_cmake_ros REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(rclcpp_components REQUIRED)
+-find_package(sdl2_vendor REQUIRED)
+-find_package(sdl2_custom REQUIRED)
++#find_package(sdl2 REQUIRED)
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(SDL2 REQUIRED sdl2)
++
+ find_package(sensor_msgs REQUIRED)
+ 
+ include_directories(include)
+@@ -26,7 +28,9 @@ ament_target_dependencies(joy
+ # Need this since sdl2 doesn't properly export its
+ # libraries so ament_target_dependencies can find them
+ target_link_libraries(joy
+-  SDL2::SDL2)
++  ${SDL2_LIBRARIES})
++target_include_directories(joy SYSTEM PUBLIC
++  ${SDL2_INCLUDE_DIRS})
+ 
+ install(TARGETS joy
+   LIBRARY DESTINATION lib
+@@ -41,7 +45,9 @@ rclcpp_components_register_node(joy
+ add_executable(joy_enumerate_devices
+   src/joy_enumerate_devices.cpp)
+ target_link_libraries(joy_enumerate_devices
+-  SDL2::SDL2)
++  ${SDL2_LIBRARIES})
++target_include_directories(joy_enumerate_devices SYSTEM PUBLIC
++  ${SDL2_INCLUDE_DIRS})
+ 
+ install(TARGETS joy_enumerate_devices
+   DESTINATION lib/${PROJECT_NAME})
diff --git a/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy_3.0.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy_3.0.0-4.bbappend
new file mode 100644
index 00000000000..181fc4eb90f
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/joy_3.0.0-4.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-adapter \
+"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-use-pkg-config-to-find-sdl2.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/joystick-drivers/wiimote-msgs_3.0.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/wiimote-msgs_3.0.0-4.bbappend
new file mode 100644
index 00000000000..ce1e54c6d87
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/joystick-drivers/wiimote-msgs_3.0.0-4.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/launch/launch-testing_0.17.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/launch/launch-testing_0.17.0-1.bbappend
new file mode 100644
index 00000000000..30164ddc695
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/launch/launch-testing_0.17.0-1.bbappend
@@ -0,0 +1,7 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+# This component puts *_proc files under libdir.
+FILES_${PN}_prepend = " \
+    ${datadir}/lib/${ROS_BPN} \
+"
+
diff --git a/meta-ros2-galactic/recipes-bbappends/lgsvl-msgs/lgsvl-msgs_0.0.4-1.bbappend b/meta-ros2-galactic/recipes-bbappends/lgsvl-msgs/lgsvl-msgs_0.0.4-1.bbappend
new file mode 100644
index 00000000000..eede2c7a056
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/lgsvl-msgs/lgsvl-msgs_0.0.4-1.bbappend
@@ -0,0 +1,31 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    ament-cmake \
+    ament-cmake-export-definitions \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake-python \
+    ament-cmake-pytest \
+    ament-cmake-ros \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-version \
+    ament-package-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/libg2o/libg2o_2020.5.29-2.bbappend b/meta-ros2-galactic/recipes-bbappends/libg2o/libg2o_2020.5.29-2.bbappend
new file mode 100644
index 00000000000..0b45bb7e6f6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/libg2o/libg2o_2020.5.29-2.bbappend
@@ -0,0 +1,13 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+DEPENDS += "libglu"
+
+# Don't try to read /proc/cpuinfo as we're cross-compling
+EXTRA_OECMAKE += " \
+    -DDO_SSE_AUTODETECT=OFF \
+    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "", "-DDISABLE_SSE2=ON", d)} \
+    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "", "-DDISABLE_SSE3=ON", d)} \
+    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "", "-DDISABLE_SSE4_1=ON", d)} \
+    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "", "-DDISABLE_SSE4_2=ON", d)} \
+    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.A", "", "-DDISABLE_SSE4_A=ON", d)} \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0001-CMakeLists.txt-fetch-libyaml-with-bitbake-fetcher.patch b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0001-CMakeLists.txt-fetch-libyaml-with-bitbake-fetcher.patch
new file mode 100644
index 00000000000..daf8aa92ab1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0001-CMakeLists.txt-fetch-libyaml-with-bitbake-fetcher.patch
@@ -0,0 +1,27 @@
+From 13504e4674150cd305e2a7368fe315654f88c8e0 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 23 Apr 2020 09:29:33 -0700
+Subject: [PATCH] CMakeLists.txt: fetch libyaml with bitbake fetcher
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 4 +---
+ 1 file changed, 1 insertion(+), 3 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 54dae7b..86446c1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -61,9 +61,7 @@ macro(build_libyaml)
+   endif()
+   include(ExternalProject)
+   externalproject_add(libyaml-0.2.5
+-    URL https://github.com/yaml/libyaml/archive/refs/tags/0.2.5.zip
+-    URL_MD5 2464078985a73f9d298689d36061143f
+-    TIMEOUT 60
++    SOURCE_DIR ${CMAKE_SOURCE_DIR}/libyaml-upstream
+     CMAKE_ARGS
+       -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libyaml_install
+       ${extra_cmake_args}
diff --git a/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0002-CMakeLists.txt-use-platform-libyaml-when-available-i.patch b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0002-CMakeLists.txt-use-platform-libyaml-when-available-i.patch
new file mode 100644
index 00000000000..459c2f54b71
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor/0002-CMakeLists.txt-use-platform-libyaml-when-available-i.patch
@@ -0,0 +1,39 @@
+From cb4604bb0cbc3eb2c9b65fbe451213ebf624f7e3 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 9 Jul 2020 01:34:26 -0700
+Subject: [PATCH] CMakeLists.txt: use platform libyaml when available instead
+ of ExternalProject
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 13 ++++++++++---
+ 1 file changed, 10 insertions(+), 3 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 86446c1..c4d5ec9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -82,11 +82,18 @@ macro(build_libyaml)
+   set(yaml_LIBRARIES yaml)
+ endmacro()
+ 
+-build_libyaml()
+-set(extra_test_dependencies libyaml-0.2.5)
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(YAML REQUIRED yaml-0.1)
++
++if(YAML_FOUND)
++  message(STATUS "Found yaml ${YAML_VERSION}")
++else()
++  message(FATAL_ERROR "yaml not found -- missing from DEPENDS?")
++  # eventually we can build one with ExternalProjectAdd
++  # build_libyaml()
++endif()
+ 
+ ament_export_libraries(yaml)
+-ament_export_dependencies(yaml)
+ 
+ if(BUILD_TESTING)
+   find_package(ament_lint_auto REQUIRED)
diff --git a/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor_%.bbappend b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor_%.bbappend
new file mode 100644
index 00000000000..00eeb5acc53
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/libyaml-vendor/libyaml-vendor_%.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+DEPENDS += "libyaml"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-fetch-libyaml-with-bitbake-fetcher.patch \
+    file://0002-CMakeLists.txt-use-platform-libyaml-when-available-i.patch \
+"
+
+# Instead of fetching
+# https://github.com/yaml/libyaml/archive/refs/tags/0.2.5.zip
+# during do_compile
+# git://github.com/yaml/libyaml.git;protocol=https;branch=release-0.2.5;name=libyaml;destsuffix=git/libyaml-upstream \
+# SRCREV_libyaml = "65d19898a301b817261003b00d1dcef00895a7b4"
+# oe-core/hardknott already has the right version:
+# openembedded-core/meta/recipes-support/libyaml/libyaml_0.2.5.bb
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-can-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-can-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-can-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-common-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-common-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-common-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-dbw-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-dbw-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-dbw-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-nav-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-nav-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-nav-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-perception-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-perception-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-perception-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-sensor-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-sensor-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-sensor-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-status-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-status-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-status-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-visualization-msgs_1.1.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-visualization-msgs_1.1.0-2.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/marti-messages/marti-visualization-msgs_1.1.0-2.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0001-CMakeLists.txt-install-only-specified-mimick-files-n.patch b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0001-CMakeLists.txt-install-only-specified-mimick-files-n.patch
new file mode 100644
index 00000000000..07ec200131c
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0001-CMakeLists.txt-install-only-specified-mimick-files-n.patch
@@ -0,0 +1,71 @@
+From c75fb6117f274386cb6286875fa3ffe282124536 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Wed, 4 Nov 2020 16:51:40 -0800
+Subject: [PATCH] CMakeLists.txt: install only specified mimick files, not
+ whole directory
+
+* otherwise the whole long path to build directory is persisted in destination, causing:
+ERROR: mimick-vendor-0.2.2-1-r0 do_package: QA Issue: mimick-vendor: Files/directories were installed but not shipped in any package:
+  /jenkins
+  /jenkins/mjansa
+  /jenkins/mjansa/build
+  /jenkins/mjansa/build/ros
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/libmimick.a
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/cmake
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/cmake/mimick
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/cmake/mimick/mimick-targets.cmake
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/cmake/mimick/mimickConfig.cmake
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/lib/cmake/mimick/mimick-targets-noconfig.cmake
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/va.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/mock.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/string.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/preprocess.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/mimick.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/when.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/alloc.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/assert.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/unmocked.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/matcher.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/verify.h
+  /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/build/mimick_vendor_install/include/mimick/literal.h
+Please set FILES such that these items are packaged. Alternatively if they are unneeded, avoid installing them or delete them within do_install.
+mimick-vendor: 33 installed and not shipped files. [installed-vs-shipped]
+ERROR: mimick-vendor-0.2.2-1-r0 do_package: Fatal QA errors found, failing task.
+ERROR: Logfile of failure stored in: /jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/tmp-glibc/work/core2-64-oe-linux/mimick-vendor/0.2.2-1-r0/temp/log.do_package.58250
+ERROR: Task (/jenkins/mjansa/build/ros/ros2-rolling-gatesgarth/meta-ros/meta-ros2-rolling/generated-recipes/mimick-vendor/mimick-vendor_0.2.2-1.bb:do_package) failed with exit code '1'
+
+This behavior seem to change between CMake 3.16.5 (in dunfell) and 3.18.2 (in gatesgarth).
+Using absolute path in destination is discouraged, e.g. in:
+https://github.com/Kitware/CMake/commit/79e1d86d2c5662ff5fad50b9fd54e074e4d00d12
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e4cf591..e317b57 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -76,7 +76,7 @@ macro(build_mimick)
+     DIRECTORY
+       ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/
+     DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}
++      .
+     USE_SOURCE_PERMISSIONS
+   )
+ 
diff --git a/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0002-CMakeLists.txt-fetch-mimick-with-bitbake-fetcher.patch b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0002-CMakeLists.txt-fetch-mimick-with-bitbake-fetcher.patch
new file mode 100644
index 00000000000..9358492afa8
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor/0002-CMakeLists.txt-fetch-mimick-with-bitbake-fetcher.patch
@@ -0,0 +1,32 @@
+From 8a77c5d1e028525f17ec8c2ec82dd19c7779d1e5 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Wed, 4 Nov 2020 16:54:32 -0800
+Subject: [PATCH] CMakeLists.txt: fetch mimick with bitbake fetcher
+
+Upstream-Status: Pending
+---
+ CMakeLists.txt | 9 ++-------
+ 1 file changed, 2 insertions(+), 7 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e317b57..a74da9b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -60,15 +60,10 @@ macro(build_mimick)
+   include(ExternalProject)
+   set(mimick_version "f171450b5ebaa3d2538c762a059dfc6ab7a01039")
+   externalproject_add(mimick-${mimick_version}
+-    GIT_REPOSITORY https://github.com/ros2/Mimick.git
+-    GIT_TAG ${mimick_version}
+-    GIT_CONFIG advice.detachedHead=false
+-    # Suppress git update due to https://gitlab.kitware.com/cmake/cmake/-/issues/16419
+-    UPDATE_COMMAND ""
+-    TIMEOUT 6000
++    SOURCE_DIR ${CMAKE_SOURCE_DIR}/mimick-upstream
+     ${cmake_commands}
+     CMAKE_ARGS
+-      ${cmake_configure_args}
++      ${cmake_configure_args} -DCMAKE_TOOLCHAIN_FILE=${PROJECT_SOURCE_DIR}/../toolchain.cmake
+   )
+ 
+   # The external project will install to the build folder, but we'll install that on make install.
diff --git a/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor_0.2.6-1.bbappend b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor_0.2.6-1.bbappend
new file mode 100644
index 00000000000..f1eb32b5276
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/mimick-vendor/mimick-vendor_0.2.6-1.bbappend
@@ -0,0 +1,14 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+# Instead of fetching
+# https://github.com/ros2/Mimick.git revision f171450b5ebaa3d2538c762a059dfc6ab7a01039
+# during do_compile
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-install-only-specified-mimick-files-n.patch \
+    file://0002-CMakeLists.txt-fetch-mimick-with-bitbake-fetcher.patch \
+    git://github.com/ros2/Mimick.git;protocol=https;name=mimick;branch=ros2;destsuffix=git/mimick-upstream \
+"
+SRCREV_mimick = "f171450b5ebaa3d2538c762a059dfc6ab7a01039"
+
+# mimick-vendor/0.2.2-1-r0/recipe-sysroot/usr/include/features.h:397:4: error: #warning _FORTIFY_SOURCE requires compiling with optimization (-O) [-Werror=cpp]
+lcl_maybe_fortify = ""
diff --git a/meta-ros2-galactic/recipes-bbappends/navigation-msgs/map-msgs_2.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/navigation-msgs/map-msgs_2.1.0-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/navigation-msgs/map-msgs_2.1.0-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/nmea-msgs/nmea-msgs_2.0.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/nmea-msgs/nmea-msgs_2.0.0-2.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/nmea-msgs/nmea-msgs_2.0.0-2.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_%.bbappend b/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_%.bbappend
new file mode 100644
index 00000000000..9a49099f8ae
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_%.bbappend
@@ -0,0 +1,4 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# ERROR: orocos-kdl-3.3.1-1-r0 do_package_qa: QA Issue: non -dev/-dbg/nativesdk- package contains symlink .so: orocos-kdl path '/work/aarch64-oe-linux/orocos-kdl/3.3.1-1-r0/packages-split/orocos-kdl/usr/lib/liborocos-kdl.so' [dev-so]
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_3.3.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_3.3.3-1.bbappend
new file mode 100644
index 00000000000..45593210bd6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/orocos-kinematics-dynamics/orocos-kdl_3.3.3-1.bbappend
@@ -0,0 +1,10 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+# Missing license version in package.xml
+# https://github.com/ros2-gbp/orocos_kinematics_dynamics-release/issues/2
+LICENSE = "LGPL-2.1"
+
+# there is eigen3-cmake-module-native in ROS_BUILDTOOL_EXPORT_DEPENDS
+# but we need target dependency for orocos-kdl users like kdl-parser
+# to find it
+DEPENDS += "eigen3-cmake-module"
diff --git a/meta-ros2-galactic/recipes-bbappends/osrf-testing-tools-cpp/test-osrf-testing-tools-cpp_1.3.2-2.bbappend b/meta-ros2-galactic/recipes-bbappends/osrf-testing-tools-cpp/test-osrf-testing-tools-cpp_1.3.2-2.bbappend
new file mode 100644
index 00000000000..c2f800fef1b
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/osrf-testing-tools-cpp/test-osrf-testing-tools-cpp_1.3.2-2.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+DEPENDS += " \
+    osrf-testing-tools-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/pcl-msgs/pcl-msgs_1.0.0-5.bbappend b/meta-ros2-galactic/recipes-bbappends/pcl-msgs/pcl-msgs_1.0.0-5.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/pcl-msgs/pcl-msgs_1.0.0-5.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/performance-test-fixture/performance-test-fixture_0.0.7-1.bbappend b/meta-ros2-galactic/recipes-bbappends/performance-test-fixture/performance-test-fixture_0.0.7-1.bbappend
new file mode 100644
index 00000000000..6479f279937
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/performance-test-fixture/performance-test-fixture_0.0.7-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# This doesn't seem to be needed and would require google-benchmark and google-benchmark-vendor to have native BBCLASSEXTEND as well
+ROS_BUILDTOOL_EXPORT_DEPENDS_remove = " \
+    ament-cmake-google-benchmark-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22/0001-Use-libphidget22-from-libphidget22-upstream-and-norm.patch b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22/0001-Use-libphidget22-from-libphidget22-upstream-and-norm.patch
new file mode 100644
index 00000000000..696530933aa
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22/0001-Use-libphidget22-from-libphidget22-upstream-and-norm.patch
@@ -0,0 +1,338 @@
+From a623afc37b16918e971803978f4c049b3fa4d072 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Wed, 18 Dec 2019 11:11:30 -0800
+Subject: [PATCH] Use libphidget22 from libphidget22-upstream and normal prefix
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt                                |  37 +--
+ cmake/libphidget22-extras.cmake.in            |   4 +-
+ ...phidgets22-1.6.20200417-fix-warnings.patch | 260 ------------------
+ 3 files changed, 3 insertions(+), 298 deletions(-)
+ delete mode 100644 patch/libphidgets22-1.6.20200417-fix-warnings.patch
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 462ee7f..706e59a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,41 +3,6 @@ project(libphidget22)
+ 
+ find_package(ament_cmake REQUIRED)
+ 
+-set(extra_c_flags "-g -O2 -Wno-incompatible-pointer-types -Wno-deprecated-declarations -Wno-format-truncation -fPIC")
+-
+-include(ExternalProject)
+-ExternalProject_Add(EP_${PROJECT_NAME}
+-    URL https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22/libphidget22-1.6.20200417.tar.gz
+-    URL_MD5 f8c85f8348ddc0fb46146c0d9d8f884e
+-
+-    PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_SOURCE_DIR}/patch/libphidgets22-1.6.20200417-fix-warnings.patch
+-    SOURCE_DIR ${PROJECT_BINARY_DIR}/${PROJECT_NAME}-src
+-    CONFIGURE_COMMAND
+-      <SOURCE_DIR>/configure
+-      CFLAGS=${extra_c_flags}
+-      --prefix=${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install
+-      --disable-ldconfig
+-    BUILD_COMMAND $(MAKE)
+-    INSTALL_COMMAND $(MAKE) install
+-)
+-
+-# The external project will install to the build folder, but we'll install that on make install.
+-# Note that we install lib and include separately so we can add the extra level of indirection
+-# to the include directory.
+-install(
+-  DIRECTORY
+-    ${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install/lib/
+-  DESTINATION
+-    ${CMAKE_INSTALL_PREFIX}/opt/libphidget22/lib/
+-)
+-
+-install(
+-  DIRECTORY
+-    ${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install/include/
+-  DESTINATION
+-    ${CMAKE_INSTALL_PREFIX}/opt/libphidget22/include/libphidget22/
+-)
+-
+-ament_environment_hooks(env_hook/libphidget22_library_path.sh)
++find_package(libphidget22)
+ 
+ ament_package(CONFIG_EXTRAS "cmake/libphidget22-extras.cmake.in")
+diff --git a/cmake/libphidget22-extras.cmake.in b/cmake/libphidget22-extras.cmake.in
+index 7a386fa..ccf3d59 100644
+--- a/cmake/libphidget22-extras.cmake.in
++++ b/cmake/libphidget22-extras.cmake.in
+@@ -1,3 +1,3 @@
+ # TODO(clalancette): Does this work in general?
+-list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/../../../opt/libphidget22/include")
+-list(APPEND @PROJECT_NAME@_LIBRARIES "${@PROJECT_NAME@_DIR}/../../../opt/libphidget22/lib/libphidget22.so")
++list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/../../../../usr/include")
++list(APPEND @PROJECT_NAME@_LIBRARIES "${@PROJECT_NAME@_DIR}/../../../../usr/lib/libphidget22.so")
+diff --git a/patch/libphidgets22-1.6.20200417-fix-warnings.patch b/patch/libphidgets22-1.6.20200417-fix-warnings.patch
+deleted file mode 100644
+index f197d1a..0000000
+--- a/patch/libphidgets22-1.6.20200417-fix-warnings.patch
++++ /dev/null
+@@ -1,260 +0,0 @@
+-diff -urp libphidget22-1.6.20200417.orig/configure libphidget22-1.6.20200417/configure
+---- libphidget22-1.6.20200417.orig/configure	2020-04-17 21:51:11.000000000 +0000
+-+++ libphidget22-1.6.20200417/configure	2020-06-02 13:31:26.487312313 +0000
+-@@ -5678,7 +5678,7 @@ esac
+- fi
+- 
+- : ${AR=ar}
+--: ${AR_FLAGS=cru}
+-+: ${AR_FLAGS=cr}
+- 
+- 
+- 
+-diff -urp libphidget22-1.6.20200417.orig/src/class/dataadapter.gen.c libphidget22-1.6.20200417/src/class/dataadapter.gen.c
+---- libphidget22-1.6.20200417.orig/src/class/dataadapter.gen.c	2020-04-17 21:50:42.000000000 +0000
+-+++ libphidget22-1.6.20200417/src/class/dataadapter.gen.c	2020-06-02 13:26:36.101638546 +0000
+-@@ -46,137 +46,6 @@ struct _PhidgetDataAdapter {
+- };
+- 
+- static PhidgetReturnCode CCONV
+--_setStatus(PhidgetChannelHandle phid, BridgePacket *bp) {
+--	PhidgetDataAdapterHandle ch;
+--	int version;
+--
+--	ch = (PhidgetDataAdapterHandle)phid;
+--
+--	version = getBridgePacketUInt32ByName(bp, "_class_version_");
+--	if (version != 3) {
+--		loginfo("%"PRIphid": server/client class version mismatch: %d != 3 - functionality may be limited.", phid, version);
+--	}
+--
+--	if(version >= 3)
+--		ch->responseReceived = getBridgePacketInt32ByName(bp, "responseReceived");
+--	if(version >= 3)
+--		memcpy(&ch->lastData, getBridgePacketUInt8ArrayByName(bp, "lastData"), sizeof (uint8_t) * 8192);
+--	if(version >= 3)
+--		ch->lastDataIndex = getBridgePacketUInt32ByName(bp, "lastDataIndex");
+--	if(version >= 3)
+--		memcpy(&ch->eventData, getBridgePacketUInt8ArrayByName(bp, "eventData"), sizeof (uint8_t) * 8192);
+--	if(version >= 3)
+--		ch->lastDataLen = getBridgePacketUInt32ByName(bp, "lastDataLen");
+--	if(version >= 3)
+--		ch->lastDataError = getBridgePacketUInt32ByName(bp, "lastDataError");
+--	if(version >= 3)
+--		memcpy(&ch->I2CFormat, getBridgePacketUInt8ArrayByName(bp, "I2CFormat"), sizeof (char) * 2049);
+--	if(version >= 3)
+--		ch->lastDataRead = getBridgePacketInt32ByName(bp, "lastDataRead");
+--	if(version >= 3)
+--		ch->baudRate = getBridgePacketUInt32ByName(bp, "baudRate");
+--	if(version >= 3)
+--		ch->minBaudRate = getBridgePacketUInt32ByName(bp, "minBaudRate");
+--	if(version >= 3)
+--		ch->maxBaudRate = getBridgePacketUInt32ByName(bp, "maxBaudRate");
+--	if(version >= 3)
+--		ch->dataBits = getBridgePacketUInt32ByName(bp, "dataBits");
+--	if(version >= 3)
+--		ch->minDataBits = getBridgePacketUInt32ByName(bp, "minDataBits");
+--	if(version >= 3)
+--		ch->maxDataBits = getBridgePacketUInt32ByName(bp, "maxDataBits");
+--	if(version >= 3)
+--		ch->deviceAddress = getBridgePacketUInt32ByName(bp, "deviceAddress");
+--	if(version >= 3)
+--		ch->handshakeMode = getBridgePacketInt32ByName(bp, "handshakeMode");
+--	if(version >= 3)
+--		ch->endianness = getBridgePacketInt32ByName(bp, "endianness");
+--	if(version >= 3)
+--		ch->IOVoltage = getBridgePacketInt32ByName(bp, "IOVoltage");
+--	if(version >= 3)
+--		ch->maxPacketLength = getBridgePacketUInt32ByName(bp, "maxPacketLength");
+--	if(version >= 3)
+--		ch->parity = getBridgePacketInt32ByName(bp, "parity");
+--	if(version >= 3)
+--		ch->protocol = getBridgePacketInt32ByName(bp, "protocol");
+--	if(version >= 3)
+--		ch->SPIMode = getBridgePacketInt32ByName(bp, "SPIMode");
+--	if(version >= 3)
+--		ch->stopBits = getBridgePacketInt32ByName(bp, "stopBits");
+--	if(version >= 3)
+--		ch->timeout = getBridgePacketUInt32ByName(bp, "timeout");
+--	if(version >= 3)
+--		ch->minTimeout = getBridgePacketUInt32ByName(bp, "minTimeout");
+--	if(version >= 3)
+--		ch->maxTimeout = getBridgePacketUInt32ByName(bp, "maxTimeout");
+--
+--	return (EPHIDGET_OK);
+--}
+--
+--static PhidgetReturnCode CCONV
+--_getStatus(PhidgetChannelHandle phid, BridgePacket **bp) {
+--	PhidgetDataAdapterHandle ch;
+--
+--	ch = (PhidgetDataAdapterHandle)phid;
+--
+--	return (createBridgePacket(bp, 0, "_class_version_=%u"
+--	  ",responseReceived=%d"
+--	  ",lastData=%8192R"
+--	  ",lastDataIndex=%u"
+--	  ",eventData=%8192R"
+--	  ",lastDataLen=%u"
+--	  ",lastDataError=%u"
+--	  ",I2CFormat=%2049R"
+--	  ",lastDataRead=%d"
+--	  ",baudRate=%u"
+--	  ",minBaudRate=%u"
+--	  ",maxBaudRate=%u"
+--	  ",dataBits=%u"
+--	  ",minDataBits=%u"
+--	  ",maxDataBits=%u"
+--	  ",deviceAddress=%u"
+--	  ",handshakeMode=%d"
+--	  ",endianness=%d"
+--	  ",IOVoltage=%d"
+--	  ",maxPacketLength=%u"
+--	  ",parity=%d"
+--	  ",protocol=%d"
+--	  ",SPIMode=%d"
+--	  ",stopBits=%d"
+--	  ",timeout=%u"
+--	  ",minTimeout=%u"
+--	  ",maxTimeout=%u"
+--	  ,3 /* class version */
+--	  ,ch->responseReceived
+--	  ,ch->lastData
+--	  ,ch->lastDataIndex
+--	  ,ch->eventData
+--	  ,ch->lastDataLen
+--	  ,ch->lastDataError
+--	  ,ch->I2CFormat
+--	  ,ch->lastDataRead
+--	  ,ch->baudRate
+--	  ,ch->minBaudRate
+--	  ,ch->maxBaudRate
+--	  ,ch->dataBits
+--	  ,ch->minDataBits
+--	  ,ch->maxDataBits
+--	  ,ch->deviceAddress
+--	  ,ch->handshakeMode
+--	  ,ch->endianness
+--	  ,ch->IOVoltage
+--	  ,ch->maxPacketLength
+--	  ,ch->parity
+--	  ,ch->protocol
+--	  ,ch->SPIMode
+--	  ,ch->stopBits
+--	  ,ch->timeout
+--	  ,ch->minTimeout
+--	  ,ch->maxTimeout
+--	));
+--}
+--
+--static PhidgetReturnCode CCONV
+- _bridgeInput(PhidgetChannelHandle phid, BridgePacket *bp) {
+- 	PhidgetDataAdapterHandle ch;
+- 	PhidgetReturnCode res;
+-diff -urp libphidget22-1.6.20200417.orig/src/class/distancesensor.gen.c libphidget22-1.6.20200417/src/class/distancesensor.gen.c
+---- libphidget22-1.6.20200417.orig/src/class/distancesensor.gen.c	2020-04-17 21:50:46.000000000 +0000
+-+++ libphidget22-1.6.20200417/src/class/distancesensor.gen.c	2020-06-02 13:27:20.497435784 +0000
+-@@ -228,8 +228,8 @@ _initAfterOpen(PhidgetChannelHandle phid
+- 		MOS_PANIC("Unsupported Channel");
+- 	}
+- 
+--	memset(ch->amplitudes, '\0', 8);
+--	memset(ch->distances, '\0', 8);
+-+	memset(ch->amplitudes, '\0', sizeof(uint32_t) * 8);
+-+	memset(ch->distances, '\0', sizeof(uint32_t) * 8);
+- 	ch->count = 0;
+- 
+- 	return (ret);
+-diff -urp libphidget22-1.6.20200417.orig/src/device/dataadapterdevice.c libphidget22-1.6.20200417/src/device/dataadapterdevice.c
+---- libphidget22-1.6.20200417.orig/src/device/dataadapterdevice.c	2020-04-17 21:50:41.000000000 +0000
+-+++ libphidget22-1.6.20200417/src/device/dataadapterdevice.c	2020-06-02 13:28:12.385198805 +0000
+-@@ -699,25 +699,3 @@ PhidgetReturnCode sendDataBuffer(Phidget
+- 	}
+- 	return ret;
+- }
+--
+--
+--//CRC16 function found from https://ctlsys.com/support/how_to_compute_the_modbus_rtu_message_crc/
+--// Compute the MODBUS RTU CRC
+--uint16_t ModRTU_CRC(uint8_t *buf, uint16_t len)
+--{
+--	uint16_t crc = 0xFFFF;
+--
+--	for (uint16_t pos = 0; pos < len; pos++) {
+--		crc ^= (uint16_t)buf[pos];          // XOR byte into least sig. byte of crc
+--
+--		for (int i = 8; i != 0; i--) {    // Loop over each bit
+--			if ((crc & 0x0001) != 0) {      // If the LSB is set
+--				crc >>= 1;                    // Shift right and XOR 0xA001
+--				crc ^= 0xA001;
+--			} else                            // Else LSB is not set
+--				crc >>= 1;                    // Just shift right
+--		}
+--	}
+--	// Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
+--	return crc;
+--}
+-diff -urp libphidget22-1.6.20200417.orig/src/device/genericdevice.c libphidget22-1.6.20200417/src/device/genericdevice.c
+---- libphidget22-1.6.20200417.orig/src/device/genericdevice.c	2020-04-17 21:50:41.000000000 +0000
+-+++ libphidget22-1.6.20200417/src/device/genericdevice.c	2020-06-02 13:28:50.317025565 +0000
+-@@ -104,7 +104,7 @@ PhidgetGenericDevice_bridgeInput(Phidget
+- 		case PHIDUID_GENERIC_PHIDUSB:
+- 			len = getBridgePacketArrayLen(bp, 2);
+- 
+--			if (len > (int)phid->OUTPacketLength[0])
+-+			if (len > (size_t)phid->OUTPacketLength[0])
+- 				return (EPHIDGET_INVALIDARG);
+- 
+- 			return (PhidgetDevice_transferpacket(bp->iop, (PhidgetDeviceHandle)phid, PHIDGETUSB_REQ_CHANNEL_WRITE,
+-@@ -120,7 +120,7 @@ PhidgetGenericDevice_bridgeInput(Phidget
+- 		case PHIDUID_GENERIC_PHIDUSB:
+- 			len = getBridgePacketArrayLen(bp, 1);
+- 
+--			if (len > (int)phid->OUTPacketLength[0])
+-+			if (len > (size_t)phid->OUTPacketLength[0])
+- 				return (EPHIDGET_INVALIDARG);
+- 
+- 			return (PhidgetDevice_transferpacket(bp->iop, (PhidgetDeviceHandle)phid, PHIDGETUSB_REQ_DEVICE_WRITE,
+-@@ -136,8 +136,8 @@ PhidgetGenericDevice_bridgeInput(Phidget
+- 		case PHIDUID_GENERIC_PHIDUSB:
+- 			len = getBridgePacketInt32(bp, 2);
+- 
+--			if (len > (int)phid->OUTPacketLength[0])
+--				len = (int)phid->OUTPacketLength[0];
+-+			if (len > (size_t)phid->OUTPacketLength[0])
+-+				len = (size_t)phid->OUTPacketLength[0];
+- 
+- 			ret = PhidgetDevice_transferpacket(bp->iop, (PhidgetDeviceHandle)phid, PHIDGETUSB_REQ_CHANNEL_READ,
+- 				getBridgePacketInt32(bp, 0), getBridgePacketInt32(bp, 1),
+-@@ -170,8 +170,8 @@ PhidgetGenericDevice_bridgeInput(Phidget
+- 		case PHIDUID_GENERIC_PHIDUSB:
+- 			len = getBridgePacketInt32(bp, 1);
+- 
+--			if (len > (int)phid->OUTPacketLength[0])
+--				len = (int)phid->OUTPacketLength[0];
+-+			if (len > (size_t)phid->OUTPacketLength[0])
+-+				len = (size_t)phid->OUTPacketLength[0];
+- 
+- 			ret = PhidgetDevice_transferpacket(bp->iop, (PhidgetDeviceHandle)phid, PHIDGETUSB_REQ_DEVICE_READ,
+- 				getBridgePacketInt32(bp, 0), 0,
+-diff -urp libphidget22-1.6.20200417.orig/src/phidget.c libphidget22-1.6.20200417/src/phidget.c
+---- libphidget22-1.6.20200417.orig/src/phidget.c	2020-04-17 21:50:39.000000000 +0000
+-+++ libphidget22-1.6.20200417/src/phidget.c	2020-06-02 13:30:49.607480749 +0000
+-@@ -2317,7 +2317,7 @@ createPhidgetHIDUSBDevice(const PhidgetU
+- #ifdef _WINDOWS
+- 	wcsncpy(conn->DevicePath, (const wchar_t *)devpath, MAX_PATH);
+- #elif defined(_LINUX) || defined(_FREEBSD) && !defined(_ANDROID)
+--	strncpy(conn->uniqueName, (const char *)devpath, 20);
+-+	strncpy(conn->uniqueName, (const char *)devpath, 19);
+- #endif
+- #if defined(_ANDROID)
+- 	mos_strncpy(conn->dev, (const char *)devpath, sizeof(conn->dev));
+-@@ -2348,7 +2348,7 @@ createPhidgetPHIDUSBDevice(const Phidget
+- #ifdef _WINDOWS
+- 	wcsncpy(conn->DevicePath, (const wchar_t *)devpath, MAX_PATH);
+- #elif defined(_LINUX) || defined(_FREEBSD) && !defined(_ANDROID)
+--	strncpy(conn->uniqueName, (const char *)devpath, 20);
+-+	strncpy(conn->uniqueName, (const char *)devpath, 19);
+- #endif
+- #if defined(_ANDROID)
+- 	mos_strncpy(conn->dev, (const char *)devpath, sizeof(conn->dev));
diff --git a/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22_2.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22_2.1.0-1.bbappend
new file mode 100644
index 00000000000..a0eacb05cba
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/libphidget22_2.1.0-1.bbappend
@@ -0,0 +1,11 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# WARNING: libphidget22-2.0.1-1-r0 do_populate_lic: libphidget22: No generic license file exists for: LGPL-2 in any provider
+# COPYING and COPYING.LESSER in libphidget22-1.4.20190605.tar.gz say GPL-3.0+ and LGPL-3.0+, source files have LGPL-3.0+
+# headers only autotools files are GPL-3.0+
+LICENSE = "LGPL-3.0+"
+
+DEPENDS += "${PN}-upstream"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-Use-libphidget22-from-libphidget22-upstream-and-norm.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/phidgets-msgs_2.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/phidgets-msgs_2.1.0-1.bbappend
new file mode 100644
index 00000000000..e198e444ab9
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/phidgets-drivers/phidgets-msgs_2.1.0-1.bbappend
@@ -0,0 +1,15 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    python-cmake-module-native \
+    python3-empy-native \
+    python3-lark-parser-native \
+    python3-numpy-native \
+    rosidl-adapter-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-parser-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor/0001-rolling-pybind11-vendor-don-t-build-pybind11-use-pla.patch b/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor/0001-rolling-pybind11-vendor-don-t-build-pybind11-use-pla.patch
new file mode 100644
index 00000000000..714e101d283
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor/0001-rolling-pybind11-vendor-don-t-build-pybind11-use-pla.patch
@@ -0,0 +1,88 @@
+From 224e197b2dff3467e381d69473614721e5a71c43 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 5 Nov 2020 12:32:28 -0800
+Subject: [PATCH] {rolling} pybind11-vendor: don't build pybind11, use platform
+ recipe python3-pybind11
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 69 ++------------------------------------------------
+ 1 file changed, 2 insertions(+), 67 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9b79b46..5c3fc18 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,70 +4,5 @@ project(pybind11_vendor)
+ 
+ find_package(ament_cmake REQUIRED)
+ 
+-macro(build_pybind11)
+-  set(extra_cmake_args)
+-
+-  # CMAKE_BUILD_TYPE was removed in ros2:pybind11_vendor#3 to eliminate warning
+-  # on Windows about unused variable. It is only used for tests, which we are
+-  # not building, and in pybind11Tools.cmake for Linux and Mac. In any case,
+-  # pybind11 is a headers-only class and does not require building at the time
+-  # of this vendor package, thus does not require passing in the variable here.
+-  # It will use the variable value in packages that depend on it for compiling.
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-    if(ANDROID)
+-      if(DEFINED ANDROID_ABI)
+-        list(APPEND extra_cmake_args "-DANDROID_ABI=${ANDROID_ABI}")
+-      endif()
+-      if(DEFINED ANDROID_CPP_FEATURES)
+-        list(APPEND extra_cmake_args "-DANDROID_CPP_FEATURES=${ANDROID_CPP_FEATURES}")
+-      endif()
+-      if(DEFINED ANDROID_FUNCTION_LEVEL_LINKING)
+-        list(APPEND extra_cmake_args "-DANDROID_FUNCTION_LEVEL_LINKING=${ANDROID_FUNCTION_LEVEL_LINKING}")
+-      endif()
+-      if(DEFINED ANDROID_NATIVE_API_LEVEL)
+-        list(APPEND extra_cmake_args "-DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL}")
+-      endif()
+-      if(DEFINED ANDROID_NDK)
+-        list(APPEND extra_cmake_args "-DANDROID_NDK=${ANDROID_NDK}")
+-      endif()
+-      if(DEFINED ANDROID_STL)
+-        list(APPEND extra_cmake_args "-DANDROID_STL=${ANDROID_STL}")
+-      endif()
+-      if(DEFINED ANDROID_TOOLCHAIN_NAME)
+-        list(APPEND extra_cmake_args "-DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME}")
+-      endif()
+-    endif()
+-  else()
+-    list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  endif()
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}")
+-
+-
+-  include(ExternalProject)
+-  ExternalProject_Add(pybind11-2.5.0
+-    URL https://github.com/pybind/pybind11/archive/v2.5.0.tar.gz
+-    URL_MD5 1ad2c611378fb440e8550a7eb6b31b89
+-    TIMEOUT 600
+-    CMAKE_ARGS
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+-      -DPYBIND11_TEST=OFF
+-      ${extra_cmake_args}
+-  )
+-
+-  # The external project will install to the build folder, but we'll install that on make install.
+-  install(
+-    DIRECTORY
+-      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/
+-    DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}
+-    USE_SOURCE_PERMISSIONS
+-  )
+-endmacro()
+-
+-# Currently, always build.
+-# This could be improved with logic to use installed platform packages.
+-build_pybind11()
+ 
+ ament_package()
diff --git a/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor_2.2.6-1.bbappend b/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor_2.2.6-1.bbappend
new file mode 100644
index 00000000000..7ef9a94f83d
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/pybind11-vendor/pybind11-vendor_2.2.6-1.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+DEPENDS += "python3-pybind11"
+RDEPENDS_${PN} += "python3-pybind11"
+ALLOW_EMPTY_${PN} = "1"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-rolling-pybind11-vendor-don-t-build-pybind11-use-pla.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/qt-gui-core/qt-gui-cpp_2.0.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/qt-gui-core/qt-gui-cpp_2.0.0-4.bbappend
new file mode 100644
index 00000000000..e149654a191
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/qt-gui-core/qt-gui-cpp_2.0.0-4.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# This is needed to set OE_QMAKE_PATH_EXTERNAL_HOST_BINS to resolve:
+# | -- Found PythonLibs: ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/qt-gui-cpp/1.0.8-1-r0/recipe-sysroot/usr/lib/libpython3.8.so (found suitable version "3.8.2", minimum required is "3.8")
+# | CMake Warning at ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/qt-gui-cpp/1.0.8-1-r0/recipe-sysroot/usr/lib/cmake/Qt5/Qt5Config.cmake:7 (message):
+# |   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
+# | Call Stack (most recent call first):
+# |   src/qt_gui_cpp/CMakeLists.txt:3 (find_package)
+# |
+# |
+# | CMake Error at src/qt_gui_cpp/CMakeLists.txt:35 (qt5_wrap_cpp):
+# |   Unknown CMake command "qt5_wrap_cpp".
+inherit ${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5'], '', 'cmake_qt5', d)}
+
+# | CMake Warning at ros2-foxy-dunfell/tmp-glibc/work/core2-64-oe-linux/qt-gui-cpp/1.0.8-1-r0/recipe-sysroot/usr/share/python_qt_binding/cmake/sip_helper.cmake:27 (message):
+# |   SIP binding generator NOT available.
+DEPENDS += "sip3-native"
diff --git a/meta-ros2-galactic/recipes-bbappends/rc-common-msgs/rc-common-msgs_0.5.3-2.bbappend b/meta-ros2-galactic/recipes-bbappends/rc-common-msgs/rc-common-msgs_0.5.3-2.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rc-common-msgs/rc-common-msgs_0.5.3-2.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rc-dynamics-api/rc-dynamics-api_0.10.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rc-dynamics-api/rc-dynamics-api_0.10.3-1.bbappend
new file mode 100644
index 00000000000..4e2caf1f9f1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rc-dynamics-api/rc-dynamics-api_0.10.3-1.bbappend
@@ -0,0 +1,10 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# it tries to run js_embed and fails with:
+# /bin/sh: js_embed: command not found
+# because it does depend only on target protobuf, not protobuf-native:
+DEPENDS += "protobuf-native"
+
+# ERROR: rc-dynamics-api-0.10.3-1-r0 do_package_qa: QA Issue:
+# non -dev/-dbg/nativesdk- package contains symlink .so: rc-dynamics-api path '/work/core2-64-oe-linux/rc-dynamics-api/0.10.3-1-r0/packages-split/rc-dynamics-api/usr/lib/librc_dynamics_api.so' [dev-so]
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api/0001-GenicamConfig.cmake-detect-ARCHITECTURE-only-when-no.patch b/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api/0001-GenicamConfig.cmake-detect-ARCHITECTURE-only-when-no.patch
new file mode 100644
index 00000000000..210307d1b44
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api/0001-GenicamConfig.cmake-detect-ARCHITECTURE-only-when-no.patch
@@ -0,0 +1,93 @@
+From 64ef104e0ba5f7238899742fd3a3264735a6d72c Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Tue, 12 May 2020 05:05:43 -0700
+Subject: [PATCH] GenicamConfig.cmake: detect ARCHITECTURE only when not set
+ already
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ baumer/CMakeLists.txt        | 2 ++
+ cmake/PROJECTConfig.cmake.in | 2 ++
+ genicam/CMakeLists.txt       | 2 ++
+ genicam/GenicamConfig.cmake  | 2 ++
+ 4 files changed, 8 insertions(+)
+
+diff --git a/baumer/CMakeLists.txt b/baumer/CMakeLists.txt
+index aa9be06..4aece19 100644
+--- a/baumer/CMakeLists.txt
++++ b/baumer/CMakeLists.txt
+@@ -1,4 +1,5 @@
+ 
++if(NOT DEFINED ARCHITECTURE)
+ if (UNIX)
+   # try to get architecture from compiler
+   EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine COMMAND tr -d '\n' OUTPUT_VARIABLE CXX_MACHINE)
+@@ -10,6 +11,7 @@ elseif (WIN32)
+     set(ARCHITECTURE WIN64_x64)
+   endif ()
+ endif ()
++endif ()
+ 
+ message(STATUS "Detected architecture ${ARCHITECTURE}")
+ 
+diff --git a/cmake/PROJECTConfig.cmake.in b/cmake/PROJECTConfig.cmake.in
+index 0634f61..1dfbd19 100644
+--- a/cmake/PROJECTConfig.cmake.in
++++ b/cmake/PROJECTConfig.cmake.in
+@@ -18,6 +18,7 @@ function(resolve_genicam)
+   list(APPEND @PROJECT_NAME_UPPER@_INCLUDE_DIRS "${GENICAM_INCLUDE_DIR}")
+   set(@PROJECT_NAME_UPPER@_INCLUDE_DIRS "${@PROJECT_NAME_UPPER@_INCLUDE_DIRS}" PARENT_SCOPE)
+ 
++  if(NOT DEFINED ARCHITECTURE)
+   if (UNIX)
+     # try to get architecture from compiler
+     EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine COMMAND tr -d '\n' OUTPUT_VARIABLE CXX_MACHINE)
+@@ -29,6 +30,7 @@ function(resolve_genicam)
+       set(ARCHITECTURE WIN64_x64)
+     endif ()
+   endif ()
++  endif ()
+ 
+   message(STATUS "Detected architecture ${ARCHITECTURE}")
+ 
+diff --git a/genicam/CMakeLists.txt b/genicam/CMakeLists.txt
+index 6ec8aa8..7fd9f4d 100644
+--- a/genicam/CMakeLists.txt
++++ b/genicam/CMakeLists.txt
+@@ -1,5 +1,6 @@
+ project(genicam CXX)
+ 
++if(NOT DEFINED ARCHITECTURE)
+ if (UNIX)
+   # try to get architecture from compiler
+   EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine COMMAND tr -d '\n' OUTPUT_VARIABLE CXX_MACHINE)
+@@ -11,6 +12,7 @@ elseif (WIN32)
+     set(ARCHITECTURE WIN64_x64)
+   endif ()
+ endif ()
++endif ()
+ 
+ message(STATUS "Detected architecture ${ARCHITECTURE}")
+ 
+diff --git a/genicam/GenicamConfig.cmake b/genicam/GenicamConfig.cmake
+index 66545e4..4fc4413 100644
+--- a/genicam/GenicamConfig.cmake
++++ b/genicam/GenicamConfig.cmake
+@@ -6,6 +6,7 @@
+ 
+ get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/" ABSOLUTE)
+ 
++if(NOT DEFINED ARCHITECTURE)
+ if (UNIX)
+   # try to get architecture from compiler
+   EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine COMMAND tr -d '\n' OUTPUT_VARIABLE CXX_MACHINE)
+@@ -17,6 +18,7 @@ elseif (WIN32)
+     set(ARCHITECTURE WIN64_x64)
+   endif ()
+ endif ()
++endif ()
+ 
+ message(STATUS "Detected architecture ${ARCHITECTURE}")
+ 
diff --git a/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api_2.5.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api_2.5.0-1.bbappend
new file mode 100644
index 00000000000..9efd0f81292
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rc-genicam-api/rc-genicam-api_2.5.0-1.bbappend
@@ -0,0 +1,84 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# find_package(Genicam REQUIRED NO_CMAKE_PATH PATHS ${CMAKE_CURRENT_SOURCE_DIR}/genicam CONFIG NO_DEFAULT_PATH)
+# doesn't work for some reason, help it by setting Genicam_DIR
+EXTRA_OECMAKE += "-DGenicam_DIR=${S}/genicam"
+
+# These are prebuilt binaries
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libGenApi_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libGCBase_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libNodeMapData_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libXmlParser_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/liblog4cpp_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libLog_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package: QA Issue: File '/usr/lib/libMathParser_gcc46_v3_1.so' from rc-genicam-api was already stripped, this will prevent future debugging! [already-stripped]
+INSANE_SKIP_${PN} += "already-stripped"
+
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package_qa: QA Issue: non -dev/-dbg/nativesdk- package contains symlink .so: rc-genicam-api path '/work/raspberrypi4-webos-linux-gnueabi/rc-genicam-api/2.3.3-1-r0/packages-split/rc-genicam-api/usr/lib/librc_genicam_api.so' [dev-so]
+inherit ros_insane_dev_so
+
+# ERROR: rc-genicam-api-2.3.3-1-r0 do_package_qa: QA Issue: /usr/share/rc_genicam_api/net_perf_check.sh contained in package rc-genicam-api requires /bin/bash, but no providers found in RDEPENDS_rc-genicam-api? [file-rdeps]
+RDEPENDS_${PN} += "bash"
+
+# This is needed only for webOS OSE and it's not in meta-ros-webos, because
+# then meta-ros-webos would need to include this .bbappend just when
+# meta-ros1-melodic layer is included
+VIRTUAL-RUNTIME_bash ?= "bash"
+RDEPENDS_${PN}_append_class-target_webos = " ${VIRTUAL-RUNTIME_bash}"
+RDEPENDS_${PN}_remove_class-target_webos = "${@oe.utils.conditional('WEBOS_PREFERRED_PROVIDER_FOR_BASH', 'busybox', 'bash', '', d)}"
+
+# Uses cxx -dumpmachine to check the target architecture and fails for qemux86
+# because it detects i586 and supports only i686 (and arm, aarch64, x86_64)
+#   EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine COMMAND tr -d '\n' OUTPUT_VARIABLE CXX_MACHINE)
+#   string(REGEX REPLACE "([a-zA-Z_0-9]+).*" "\\1" ARCHITECTURE ${CXX_MACHINE})
+#
+# Restrict this recipe with COMPATIBLE_MACHINE and then just force
+# ARCHITECTURE with EXTRA_OECMAKE
+
+COMPATIBLE_MACHINE = "(^$)"
+COMPATIBLE_MACHINE_x86-64 = "(.*)"
+COMPATIBLE_MACHINE_x86 = "(.*)"
+COMPATIBLE_MACHINE_aarch64 = "(.*)"
+COMPATIBLE_MACHINE_armv7a = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', '(^$)', '(.*)', d)}"
+COMPATIBLE_MACHINE_armv7ve = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', '(^$)', '(.*)', d)}"
+
+RC_GENICAM_API_ARCHITECTURE_x86-64 = "x86_64"
+RC_GENICAM_API_ARCHITECTURE_x86 = "i686"
+RC_GENICAM_API_ARCHITECTURE_aarch64 = "aarch64"
+RC_GENICAM_API_ARCHITECTURE_armv7a = "arm"
+RC_GENICAM_API_ARCHITECTURE_armv7ve = "arm"
+
+# RC_PROJECT_VERSION is set in cmake/project_version.cmake by git describe checking for 'v?([0-9.]+).*' tag
+# but in roboception-gbp/rc_genicam_api-release repo there are no suitable tags:
+# 2.5.0-1-r0/git$ git describe --all
+# tags/release/rolling/rc_genicam_api/2.5.0-1
+# so it ends 0.0.0 triggering an warning:
+# CMake Warning at cmake/project_version.cmake:124 (message):
+# Version from package.xml (2.5.0) doesn't match RC_PROJECT_VERSION (0.0.0)
+# and then more importantly rc-genicam-driver error:
+# CMake Error at CMakeLists.txt:29 (find_package):
+#  Could not find a configuration file for package "RC_GENICAM_API" that is
+#  compatible with requested version "2.4.4".
+#
+#  The following configuration files were considered but not accepted:
+#
+#    TOPDIR/tmp-glibc/work/qemux86-webos-linux/rc-genicam-driver/0.1.3-1-r0/recipe-sysroot/usr/lib/rc_genicam_api/RC_GENICAM_APIConfig.cmake, version: 0.0.0
+RC_PROJECT_VERSION = "${@'${PV}'.split('-')[0]}"
+
+EXTRA_OECMAKE += "-DARCHITECTURE=${RC_GENICAM_API_ARCHITECTURE} -DRC_PROJECT_VERSION=${RC_PROJECT_VERSION}"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-GenicamConfig.cmake-detect-ARCHITECTURE-only-when-no.patch"
+
+# in version 2.4.1-1 only aarch64 prebuilt binaries ware missing GNU_HASH, but in 2.5.0-1 it's missing for all 4 supported architectures (32_ARMhf, 32_i86, 64_ARM, 64_x64)
+INSANE_SKIP_${PN} += " ldflags"
+
+# rc-genicam-driver/0.1.3-1-r0/recipe-sysroot/usr/lib/rc_genicam_api/RC_GENICAM_APITargets.cmake:110 (message):
+# expects the binary to exist:
+# The imported target "rc_genicam_api::gc_info" references the file
+# "TOPDIR/tmp-glibc/work/core2-64-oe-linux/rc-genicam-driver/0.1.3-1-r0/recipe-sysroot/usr/bin/gc_info"
+# OE doesn't stage ${bindir} for target recipes, but in this case the rc_genicam_api::gc_info isn't
+# being called during the cross-build, so we can include it just to keep CMake happy
+sysroot_stage_all_append() {
+    sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
+}
diff --git a/meta-ros2-galactic/recipes-bbappends/rc-genicam-driver/rc-genicam-driver_0.1.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rc-genicam-driver/rc-genicam-driver_0.1.3-1.bbappend
new file mode 100644
index 00000000000..167e9cc2b75
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rc-genicam-driver/rc-genicam-driver_0.1.3-1.bbappend
@@ -0,0 +1,21 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# depends on rc-genicam-api, use the same restriction
+COMPATIBLE_MACHINE = "(^$)"
+COMPATIBLE_MACHINE_x86-64 = "(.*)"
+COMPATIBLE_MACHINE_x86 = "(.*)"
+COMPATIBLE_MACHINE_aarch64 = "(.*)"
+COMPATIBLE_MACHINE_armv7a = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', '(^$)', '(.*)', d)}"
+COMPATIBLE_MACHINE_armv7ve = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', '(^$)', '(.*)', d)}"
+
+# RC_PROJECT_VERSION is set in cmake/project_version.cmake by git describe checking for 'v?([0-9.]+).*' tag
+# but in roboception-gbp/rc_genicam_api-release repo there are no suitable tags:
+# rc-genicam-driver/0.1.3-1-r0/git$ git describe --all
+# tags/release/rolling/rc_genicam_driver/0.1.3-1
+# so it ends 0.0.0 triggering an warning:
+# -- PACKAGE_XML_VERSION: 0.1.3
+# CMake Warning at cmake/project_version.cmake:137 (message):
+#   Version from package.xml (0.1.3) doesn't match RC_PROJECT_VERSION (0.0.0)
+RC_PROJECT_VERSION = "${@'${PV}'.split('-')[0]}"
+
+EXTRA_OECMAKE += "-DRC_PROJECT_VERSION=${RC_PROJECT_VERSION}"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/action-msgs_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/action-msgs_1.0.3-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/action-msgs_1.0.3-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/builtin-interfaces_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/builtin-interfaces_1.0.3-1.bbappend
new file mode 100644
index 00000000000..086e114dde1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/builtin-interfaces_1.0.3-1.bbappend
@@ -0,0 +1,40 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    fastcdr \
+    fastrtps \
+"
+
+# usr/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake contains:
+#
+#     set(_exported_dependencies "rosidl_default_runtime")
+
+ROS_EXPORT_DEPENDS += "rosidl-default-runtime"
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c \
+    rosidl-typesupport-fastrtps-cpp \
+    rosidl-runtime-c \
+    rosidl-runtime-cpp \
+    fastrtps-cmake-module \
+    python-cmake-module \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-generator-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/composition-interfaces_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/composition-interfaces_1.0.3-1.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/composition-interfaces_1.0.3-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/lifecycle-msgs_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/lifecycle-msgs_1.0.3-1.bbappend
new file mode 100644
index 00000000000..7c58570b4cc
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/lifecycle-msgs_1.0.3-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rcl-interfaces_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rcl-interfaces_1.0.3-1.bbappend
new file mode 100644
index 00000000000..e30b87073b8
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rcl-interfaces_1.0.3-1.bbappend
@@ -0,0 +1,27 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    fastrtps-cmake-module \
+    rmw-fastrtps-cpp \
+    rmw-fastrtps-shared-cpp \
+    rmw-implementation \
+    rmw-implementation-cmake \
+    rosidl-generator-cpp \
+    rosidl-typesupport-fastrtps-c \
+    rosidl-typesupport-fastrtps-cpp \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rmw-fastrtps-cpp-native \
+    rmw-fastrtps-shared-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rosgraph-msgs_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rosgraph-msgs_1.0.3-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/rosgraph-msgs_1.0.3-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/statistics-msgs_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/statistics-msgs_1.0.3-1.bbappend
new file mode 100644
index 00000000000..dd0f563ce0e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/statistics-msgs_1.0.3-1.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/test-msgs_1.0.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/test-msgs_1.0.3-1.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl-interfaces/test-msgs_1.0.3-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch b/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch
new file mode 100644
index 00000000000..df173150d87
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch
@@ -0,0 +1,64 @@
+From 1eb7cb44355b3bbc39a14570d3dc81bd69825c39 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 9 Jul 2020 01:44:31 -0700
+Subject: [PATCH] CMakeLists.txt: use pkg-config to find yaml
+
+* yaml-0.1.8 built with CMake in libyaml-vendor ExternalProject_add call
+  provides yamlConfig, but platform yaml-0.2* from oe-core built with
+  autotools provides only pkg-config file yaml-1.0.pc, I've tried to change
+  oe-core recipe from autotools to cmake, but it seems to be broken in
+  upstream libyaml as shown bellow, we should continue to use upstream preferred autotools
+  https://github.com/yaml/libyaml/issues/141
+  https://github.com/yaml/libyaml/issues/138
+
+| CMake Error: File /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/yaml-0.2.5/cmake/config.h.in does not exist.
+| CMake Error at CMakeLists.txt:51 (configure_file):
+|   configure_file Problem configuring file
+|
+|
+| CMake Error at CMakeLists.txt:103 (add_subdirectory):
+|   The source directory
+|
+|     /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/yaml-0.2.5/tests
+|
+|   does not contain a CMakeLists.txt file.
+|
+|
+| CMake Error: File /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/yaml-0.2.5/yamlConfig.cmake.in does not exist.
+| CMake Error at /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/recipe-sysroot-native/usr/share/cmake-3.17/Modules/CMakePackageConfigHelpers.cmake:330 (configure_file):
+|   configure_file Problem configuring file
+| Call Stack (most recent call first):
+|   CMakeLists.txt:114 (configure_package_config_file)
+|
+|
+| CMake Error: File /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/yaml-0.2.5/yamlConfig.cmake.in does not exist.
+| CMake Error at /OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/recipe-sysroot-native/usr/share/cmake-3.17/Modules/CMakePackageConfigHelpers.cmake:330 (configure_file):
+|   configure_file Problem configuring file
+| Call Stack (most recent call first):
+|   CMakeLists.txt:130 (configure_package_config_file)
+|
+|
+| -- Configuring incomplete, errors occurred!
+| See also "/OE/build/oe-core/tmp-glibc/work/core2-64-oe-linux/libyaml/0.2.5-r0/build/CMakeFiles/CMakeOutput.log".
+| WARNING: exit code 1 from a shell command.
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 397f662..341aeaf 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,6 +6,8 @@ find_package(ament_cmake_ros REQUIRED)
+ find_package(rcutils REQUIRED)
+ find_package(rmw REQUIRED)
+ find_package(libyaml_vendor REQUIRED)
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(yaml REQUIRED yaml-0.1)
+ 
+ # Default to C++14
+ if(NOT CMAKE_CXX_STANDARD)
diff --git a/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser_3.1.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser_3.1.1-1.bbappend
new file mode 100644
index 00000000000..42db3a33625
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcl/rcl-yaml-param-parser_3.1.1-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+DEPENDS += "libyaml"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/rclc/rclc_1.0.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rclc/rclc_1.0.1-1.bbappend
new file mode 100644
index 00000000000..4355d159425
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rclc/rclc_1.0.1-1.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    std-msgs \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rclcpp/rclcpp_9.0.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rclcpp/rclcpp_9.0.1-1.bbappend
new file mode 100644
index 00000000000..6179ad09bd5
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rclcpp/rclcpp_9.0.1-1.bbappend
@@ -0,0 +1,7 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    python3-empy-native \
+    rcutils-native \
+"
+
diff --git a/meta-ros2-galactic/recipes-bbappends/rcutils/rcutils_4.0.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rcutils/rcutils_4.0.2-1.bbappend
new file mode 100644
index 00000000000..4d35cfe58e9
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rcutils/rcutils_4.0.2-1.bbappend
@@ -0,0 +1,14 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# libatomic is just one of the packages provided by gcc-runtime recipe
+# but gcc-runtime recipe doesn't have libatomic in PROVIDES, so we cannot map
+# libatomic in rosdep to libatomic (without adding libatomic to PROVIDES in gcc-runtime
+# bbappend). And we cannot leave gcc-runtime in ROS_EXEC_DEPENDS, because
+# gcc-runtime recipe doesn't have PN in PACKAGES (and we would still depend
+# on do_package shlibs handling to add runtime dependency on actual package
+# with libatomic library)
+ROS_EXEC_DEPENDS_remove = "gcc-runtime"
+# there is no native support for gcc-runtime, so also no libatomic, add it only for target builds
+ROS_EXEC_DEPENDS_append-class-target = " libatomic"
+# and also remove it from build time depends when buiding native rc-utils
+DEPENDS_remove_class-native = "gcc-runtime-native gcc-runtime"
diff --git a/meta-ros2-galactic/recipes-bbappends/rmw-cyclonedds/rmw-cyclonedds-cpp_0.22.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rmw-cyclonedds/rmw-cyclonedds-cpp_0.22.1-1.bbappend
new file mode 100644
index 00000000000..e89d86b83e6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rmw-cyclonedds/rmw-cyclonedds-cpp_0.22.1-1.bbappend
@@ -0,0 +1,10 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-cmake-native \
+    rosidl-generator-cpp-native \
+    rosidl-default-runtime \
+"
+
+# for rmw-implementation
+BBCLASSEXTEND = "native"
diff --git a/meta-ros2-galactic/recipes-bbappends/rmw-dds-common/rmw-dds-common_1.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rmw-dds-common/rmw-dds-common_1.2.1-1.bbappend
new file mode 100644
index 00000000000..54934fd9248
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rmw-dds-common/rmw-dds-common_1.2.1-1.bbappend
@@ -0,0 +1,27 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    fastcdr \
+    fastrtps \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    rosidl-typesupport-fastrtps-c \
+    rosidl-typesupport-fastrtps-cpp \
+    rosidl-runtime-c \
+    rosidl-runtime-cpp \
+    fastrtps-cmake-module \
+    python-cmake-module \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"
+
+#inherit python3native
diff --git a/meta-ros2-galactic/recipes-bbappends/rmw-fastrtps/rmw-fastrtps-shared-cpp_5.0.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rmw-fastrtps/rmw-fastrtps-shared-cpp_5.0.0-1.bbappend
new file mode 100644
index 00000000000..c01154ebd3f
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rmw-fastrtps/rmw-fastrtps-shared-cpp_5.0.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-cmake \
+    rosidl-default-runtime \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rmw-implementation/rmw-implementation_%.bbappend b/meta-ros2-galactic/recipes-bbappends/rmw-implementation/rmw-implementation_%.bbappend
new file mode 100644
index 00000000000..d53be2402fe
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rmw-implementation/rmw-implementation_%.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'rmw-connext-cpp rmw-connextdds', '', d)}"
+
+ROS_BUILD_DEPENDS_append = "rosidl-adapter-native"
+ROS_EXEC_DEPENDS_append = "rmw-fastrtps-cpp"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros-canopen/can-msgs_2.0.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/ros-canopen/can-msgs_2.0.0-2.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros-canopen/can-msgs_2.0.0-2.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch
new file mode 100644
index 00000000000..f7493976f7a
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch
@@ -0,0 +1,24 @@
+From a1e3a61864ad7e81653c4adcc0360231b7a6238f Mon Sep 17 00:00:00 2001
+From: JeongBong Seo <jb.seo@lge.com>
+Date: Fri, 5 Apr 2019 14:54:08 +0900
+Subject: [PATCH] Don't use CMAKE_INSTALL_PREFIX as sysroot for cross-compile
+
+Upstream-Status: Pending
+
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 880d8ea..544785c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,7 +14,7 @@ else()
+   set(PYTHON_INSTALL_DIR "lib/python${PYTHON_MAJOR_MINOR}/site-packages")
+   set(SHELL_EXT "sh")
+ endif()
+-set(AMENT_PACKAGE_DIR "${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ament_package")
++set(AMENT_PACKAGE_DIR "$ENV{STAGING_DIR_NATIVE}/usr/${PYTHON_INSTALL_DIR}/ament_package")
+ if(NOT EXISTS "${AMENT_PACKAGE_DIR}")
+   # Check for an .egg-link file and use the listed directory if it exists
+   get_filename_component(AMENT_PACKAGE_EGG_LINK "${AMENT_PACKAGE_DIR}" DIRECTORY)
diff --git a/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend
new file mode 100644
index 00000000000..40e3deeee5d
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend
@@ -0,0 +1,58 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# ASSERT(<prefix> == /usr)
+# ros-workspace installs its setup scripts under <prefix>, which is an unnatural location when <prefix> is /usr. Move them to be
+# under <sysconfdir>/profile.d/ros and create "ros_" prefixed symlinks to them under <bindir>.
+#
+# Create a ros.sh that sources ros/setup.sh, thereby setting up the ROS workspace for every login. Place it in a separate package
+# which will be added to images when IMAGE_FEATURES contains "ros-implicit-workspace"
+do_install_append() {
+    profile_dir=${sysconfdir}/profile.d/ros
+    mkdir -p ${D}$profile_dir
+    cd ${D}$profile_dir
+
+    mv ${D}${prefix}/*setup.bash .
+    mv ${D}${prefix}/*setup.zsh .
+    mv ${D}${prefix}/*setup.sh .
+    mv ${D}${prefix}/_local_setup_util.py .
+
+    for f in *setup.bash *setup.zsh; do
+        # Hardcode AMENT_CURRENT_PREFIX and the directory where these files reside.
+        sed -i -e '/AMENT_CURRENT_PREFIX=/ s@=.*@=${prefix}@' \
+               -e '/\$AMENT_CURRENT_PREFIX/ s@\$AMENT_CURRENT_PREFIX@'$profile_dir'@' $f
+    done
+
+    # Add special case handling for AMENT_CURRENT_PREFIX == /usr
+    sed -i -e '/for _path.*_UNIQUE_PREFIX_PATH.*do/ s@do.*@do [ $_path = ${prefix} ] \&\& _path='$profile_dir'@' \
+           -e '/AMENT_CURRENT_PREFIX=.*_path/ s@_path.*@_path; [ $_path = '$profile_dir' ] \&\& AMENT_CURRENT_PREFIX=${prefix}@' \
+           setup.sh
+
+    # Don't attempt to use the build-time Python executable on the target and hardcode the directory where _order_packages.py
+    # resides.
+    sed -i -e '/^_ament_python_executable=/ s@=.*@=${bindir}/${PYTHON_PN}@' \
+           -e '/_local_setup_util\.py/ s@\$_ament_prefix_sh_AMENT_CURRENT_PREFIX/@'$profile_dir'/@' \
+           local_setup.sh
+
+    # This script assumes, that it's installed in root of ROS distro instalation (e.g. /opt/ros/eloquent/_local_setup_util.py
+    # in our setup it's installed in /etc/profile.d/ros/_local_setup_util.py) and uses it's path to search for ament packages:
+    # https://github.com/ament/ament_package/commit/0a41c282b36902cee6b64f7c80138b93c729fb7b#diff-f837dfb214b29ba2075cb54047ffa159R54
+    # and then also passes it's path in get_commands() call as a prefix:
+    # https://github.com/ament/ament_package/commit/0a41c282b36902cee6b64f7c80138b93c729fb7b#diff-f837dfb214b29ba2075cb54047ffa159R62
+    # so it wasn't finding anything in our setup, change it to ${prefix} and drop all this when we switch ROS2 to use ros_opt_prefix.bbclass
+    sed -i -e "s#__file__#'${libdir}'#g" _local_setup_util.py
+
+    mkdir -p ${D}${bindir}
+    for f in *setup.bash *setup.zsh *setup.sh; do
+        ln -s $profile_dir/$f ${D}${bindir}/ros_$f
+    done
+
+    echo ". $profile_dir/setup.sh" > ../ros.sh
+
+    cd - > /dev/null
+}
+
+PACKAGES =+ "${PN}-implicitworkspace"
+
+FILES_${PN}-implicitworkspace = " \
+    ${sysconfdir}/profile.d/ros.sh \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-1.bbappend b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-1.bbappend
new file mode 100644
index 00000000000..c0365550cb2
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-1.bbappend
@@ -0,0 +1,14 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "ament-cmake-core"
+ROS_BUILD_DEPENDS_remove = "ament-package"
+ROS_BUILDTOOL_DEPENDS += " \
+    ament-cmake-core-native \
+    ament-package-native \
+"
+
+# The package find files from CMAKE_INSTALL_PREFIX that is just absolute "/usr".
+# Need to pass the native sysroot folder path.
+export STAGING_DIR_NATIVE
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI_append = " file://0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ouster-msgs_0.2.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ouster-msgs_0.2.0-4.bbappend
new file mode 100644
index 00000000000..072127df354
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ouster-msgs_0.2.0-4.bbappend
@@ -0,0 +1,17 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-pytest \
+    ament-cmake-ros \
+    python3-numpy-native \
+    rosidl-adapter-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster/0001-CMakeLists.txt-use-pkg-config-to-find-jsoncpp.patch b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster/0001-CMakeLists.txt-use-pkg-config-to-find-jsoncpp.patch
new file mode 100644
index 00000000000..29c1d4094d6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster/0001-CMakeLists.txt-use-pkg-config-to-find-jsoncpp.patch
@@ -0,0 +1,59 @@
+From f354089ad28ba13fd623e0815d66d9409bfec668 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Tue, 4 Feb 2020 16:36:22 +0000
+Subject: [PATCH] CMakeLists.txt: use pkg-config to find jsoncpp
+
+* the jsoncpp-1.8.4 in meta-oe/warrior doesn't have the cmake support
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt                  | 6 ++++--
+ include/ros2_ouster/OS1/OS1.hpp | 2 +-
+ 2 files changed, 5 insertions(+), 3 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 87351e5..2194304 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -16,11 +16,13 @@ find_package(pcl_conversions REQUIRED)
+ find_package(ouster_msgs REQUIRED)
+ find_package(PCL REQUIRED COMPONENTS common)
+ 
+-find_package(jsoncpp REQUIRED)
++pkg_check_modules(JSONCPP jsoncpp REQUIRED)
++# find_package(jsoncpp REQUIRED)
+ 
+ include_directories(
+   include
+   ${PCL_INCLUDE_DIRS}
++  ${JSONCPP_INCLUDE_DIRS}
+ )
+ 
+ set(executable_name ouster_driver)
+@@ -52,7 +54,7 @@ ament_target_dependencies(${library_name}
+ )
+ 
+ target_link_libraries(${library_name}
+-  jsoncpp
++  ${JSONCPP_LIBRARIES}
+   ${PCL_LIBRARIES}
+ )
+ 
+diff --git a/include/ros2_ouster/OS1/OS1.hpp b/include/ros2_ouster/OS1/OS1.hpp
+index 1b7039f..3a9eb4c 100644
+--- a/include/ros2_ouster/OS1/OS1.hpp
++++ b/include/ros2_ouster/OS1/OS1.hpp
+@@ -37,7 +37,7 @@
+ #include "sys/socket.h"
+ #include "sys/types.h"
+ 
+-#include "jsoncpp/json/json.h"
++#include "json/json.h"
+ #include "ros2_ouster/OS1/OS1_packet.hpp"
+ #include "ros2_ouster/interfaces/metadata.hpp"
+ 
+-- 
+2.17.1
+
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster_0.2.0-4.bbappend b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster_0.2.0-4.bbappend
new file mode 100644
index 00000000000..c3c3a14d6d4
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2-ouster-drivers/ros2-ouster_0.2.0-4.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+DEPENDS += "jsoncpp"
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-use-pkg-config-to-find-jsoncpp.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli-test-interfaces_0.13.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli-test-interfaces_0.13.0-1.bbappend
new file mode 100644
index 00000000000..a749832cfb6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli-test-interfaces_0.13.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+DEPENDS += "\
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli_0.13.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli_0.13.0-1.bbappend
new file mode 100644
index 00000000000..9901bdf07da
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2cli_0.13.0-1.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Needed to run ros2 commands on the target.
+RDEPENDS_${PN} += " \
+    ${PYTHON_PN}-codecs \
+    ${PYTHON_PN}-debugger \
+    ${PYTHON_PN}-json \
+    ${PYTHON_PN}-misc \
+    ${PYTHON_PN}-netifaces \
+    ${PYTHON_PN}-pydoc \
+    ${PYTHON_PN}-pyparsing \
+    ${PYTHON_PN}-pyyaml \
+    ${PYTHON_PN}-xmlrpc \
+    ${PYTHON_PN}-typing \
+    rosidl-generator-py \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2doctor_0.13.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2doctor_0.13.0-1.bbappend
new file mode 100644
index 00000000000..8bcfcc968f0
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ros2cli/ros2doctor_0.13.0-1.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_EXEC_DEPENDS += "python3-packaging"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd/0001-CMakeLists.txt-drop-dependency-on-zstd_vendor.patch b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd/0001-CMakeLists.txt-drop-dependency-on-zstd_vendor.patch
new file mode 100644
index 00000000000..0addd31b2c5
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd/0001-CMakeLists.txt-drop-dependency-on-zstd_vendor.patch
@@ -0,0 +1,69 @@
+From a8d6d068fbb098ed6f9bbae66c6724abb39af36a Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 26 Jun 2020 07:30:46 -0700
+Subject: [PATCH] CMakeLists.txt: drop dependency on zstd_vendor
+
+* zstd should be good enough
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 30 +++++++++++++++++++++++-------
+ 1 file changed, 23 insertions(+), 7 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d985c201..352970e3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -24,8 +24,8 @@ find_package(ament_cmake REQUIRED)
+ find_package(pluginlib REQUIRED)
+ find_package(rcpputils REQUIRED)
+ find_package(rosbag2_compression REQUIRED)
+-find_package(zstd_vendor REQUIRED)
+-find_package(zstd REQUIRED)
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(ZSTD libzstd REQUIRED)
+ 
+ add_library(${PROJECT_NAME} SHARED
+   src/rosbag2_compression_zstd/compression_utils.cpp
+@@ -37,8 +37,7 @@ target_include_directories(${PROJECT_NAME}
+   $<INSTALL_INTERFACE:include>)
+ ament_target_dependencies(${PROJECT_NAME}
+   rcpputils
+-  rosbag2_compression
+-  zstd)
++  rosbag2_compression)
+ target_compile_definitions(${PROJECT_NAME} PRIVATE ROSBAG2_COMPRESSION_ZSTD_BUILDING_DLL)
+ pluginlib_export_plugin_description_file(rosbag2_compression plugin_description.xml)
+ 
+@@ -56,9 +55,26 @@ install(
+ ament_export_include_directories(include)
+ ament_export_libraries(${PROJECT_NAME})
+ ament_export_targets(export_${PROJECT_NAME})
+-# order matters here, first vendor, then zstd
+-ament_export_dependencies(rcpputils rosbag2_compression zstd_vendor zstd)
+-
++# don't export zstd as we don't provide zstd from zstd-vendor and rosbag2-{py,transport} would fail with:
++# CMake Error at TOPDIR/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/rosbag2-py/0.6.0-1-r0/recipe-sysroot/usr/share/rosbag2_compression/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package):
++#   By not providing "Findzstd.cmake" in CMAKE_MODULE_PATH this project has
++#   asked CMake to find a package configuration file provided by "zstd", but
++#   CMake did not find one.
++#
++#   Could not find a package configuration file provided by "zstd" with any of
++#   the following names:
++#
++#     zstdConfig.cmake
++#     zstd-config.cmake
++#
++#   Add the installation prefix of "zstd" to CMAKE_PREFIX_PATH or set
++#   "zstd_DIR" to a directory containing one of the above files.  If "zstd"
++#   provides a separate development package or SDK, be sure it has been
++#   installed.
++# Call Stack (most recent call first):
++#   TOPDIR/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/rosbag2-py/0.6.0-1-r0/recipe-sysroot/usr/share/rosbag2_compression/cmake/rosbag2_compressionConfig.cmake:41 (include)
++#   CMakeLists.txt:21 (find_package)
++ament_export_dependencies(pluginlib rcpputils rcutils rosbag2_cpp rosbag2_storage)
+ 
+ if(BUILD_TESTING)
+   find_package(ament_cmake_gmock REQUIRED)
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd_0.7.0-1.bbappend
new file mode 100644
index 00000000000..5ba67f8e1ea
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-compression-zstd_0.7.0-1.bbappend
@@ -0,0 +1,7 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-drop-dependency-on-zstd_vendor.patch"
+
+# PN package in zstd-vendor is empty and not created, remove runtime dependency on it
+ROS_EXEC_DEPENDS_remove = "zstd-vendor"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-cpp_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-cpp_0.7.0-1.bbappend
new file mode 100644
index 00000000000..2d9dba09150
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-cpp_0.7.0-1.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += "rosidl-cmake"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-py_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-py_0.7.0-1.bbappend
new file mode 100644
index 00000000000..0b3a23d34b6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-py_0.7.0-1.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-adapter \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-transport_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-transport_0.7.0-1.bbappend
new file mode 100644
index 00000000000..0b3a23d34b6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/rosbag2-transport_0.7.0-1.bbappend
@@ -0,0 +1,5 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-adapter \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor/0001-CMakeLists.txt-fetch-readerwriterqueue-and-concurren.patch b/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor/0001-CMakeLists.txt-fetch-readerwriterqueue-and-concurren.patch
new file mode 100644
index 00000000000..5254ae444b4
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor/0001-CMakeLists.txt-fetch-readerwriterqueue-and-concurren.patch
@@ -0,0 +1,58 @@
+From 10a0f06654b5db1dca9521a97128d3f375a4b283 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 27 Nov 2020 09:12:58 -0800
+Subject: [PATCH] CMakeLists.txt: fetch readerwriterqueue and concurrentqueue
+ with bitbake fetcher
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 20 ++++++--------------
+ 1 file changed, 6 insertions(+), 14 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0daf4672..465367f2 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,11 +6,7 @@ find_package(ament_cmake REQUIRED)
+ include(ExternalProject)
+ # Single producer single consumer queue by moodycamel - header only, don't build, install
+ ExternalProject_Add(ext-singleproducerconsumer
+-  PREFIX singleproducerconsumer
+-  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
+-  URL https://github.com/cameron314/readerwriterqueue/archive/ef7dfbf553288064347d51b8ac335f1ca489032a.zip
+-  URL_MD5 64c673dd381b8fae9254053ad7b2be4d
+-  TIMEOUT 60
++  SOURCE_DIR ${PROJECT_SOURCE_DIR}/singleproducerconsumer-upstream
+   INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
+   CONFIGURE_COMMAND ""
+   BUILD_COMMAND ""
+@@ -19,11 +15,7 @@ ExternalProject_Add(ext-singleproducerconsumer
+ 
+ # Concurrent and blocking concurrent queue by moodycamel - header only, don't build, install
+ ExternalProject_Add(ext-concurrentqueue
+-  PREFIX concurrentqueue
+-  DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
+-  URL https://github.com/cameron314/concurrentqueue/archive/8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
+-  URL_MD5 71a0d932cc89150c2ade85f0d9cac9dc
+-  TIMEOUT 60
++  SOURCE_DIR ${PROJECT_SOURCE_DIR}/concurrentqueue-upstream
+   INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
+   CONFIGURE_COMMAND ""
+   BUILD_COMMAND ""
+@@ -45,10 +37,10 @@ install(
+ # Install headers
+ install(
+   FILES
+-  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer/src/ext-singleproducerconsumer/atomicops.h"
+-  "${CMAKE_CURRENT_BINARY_DIR}/singleproducerconsumer/src/ext-singleproducerconsumer/readerwriterqueue.h"
+-  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue/src/ext-concurrentqueue/concurrentqueue.h"
+-  "${CMAKE_CURRENT_BINARY_DIR}/concurrentqueue/src/ext-concurrentqueue/blockingconcurrentqueue.h"
++  "${PROJECT_SOURCE_DIR}/singleproducerconsumer-upstream/atomicops.h"
++  "${PROJECT_SOURCE_DIR}/singleproducerconsumer-upstream/readerwriterqueue.h"
++  "${PROJECT_SOURCE_DIR}/concurrentqueue-upstream/concurrentqueue.h"
++  "${PROJECT_SOURCE_DIR}/concurrentqueue-upstream/blockingconcurrentqueue.h"
+   DESTINATION ${CMAKE_INSTALL_PREFIX}/include/moodycamel
+ )
+ 
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor_0.7.0-1.bbappend
new file mode 100644
index 00000000000..035a8a4f6d3
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/shared-queues-vendor_0.7.0-1.bbappend
@@ -0,0 +1,13 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Instead of fetching
+# https://github.com/cameron314/readerwriterqueue/archive/ef7dfbf553288064347d51b8ac335f1ca489032a.zip
+# https://github.com/cameron314/concurrentqueue/archive/8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
+# with curl during do_compile use bitbake git fetcher
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-fetch-readerwriterqueue-and-concurren.patch \
+    git://github.com/cameron314/readerwriterqueue.git;protocol=https;name=singleproducerconsumer-upstream;destsuffix=git/singleproducerconsumer-upstream \
+    git://github.com/cameron314/concurrentqueue.git;protocol=https;name=concurrentqueue-upstream;destsuffix=git/concurrentqueue-upstream \
+"
+SRCREV_singleproducerconsumer-upstream = "ef7dfbf553288064347d51b8ac335f1ca489032a"
+SRCREV_concurrentqueue-upstream = "8f65a8734d77c3cc00d74c0532efca872931d3ce"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor/0001-CMakeLists.txt-prevent-building-zstd-with-ExternalPr.patch b/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor/0001-CMakeLists.txt-prevent-building-zstd-with-ExternalPr.patch
new file mode 100644
index 00000000000..7dc11d9bb93
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor/0001-CMakeLists.txt-prevent-building-zstd-with-ExternalPr.patch
@@ -0,0 +1,78 @@
+From cb89d94b75fad2710b60ada8eb4fb9cc3550b359 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 5 Jun 2020 11:35:25 -0700
+Subject: [PATCH] CMakeLists.txt: prevent building zstd with ExternalProject
+
+* use pkg-config, because zstd doesn't provide cmake find
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 49 ++++---------------------------------------------
+ 1 file changed, 4 insertions(+), 45 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 108f63c4..78efbc22 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,55 +9,14 @@ option(FORCE_BUILD_VENDOR_PKG
+   OFF)
+ 
+ if(NOT FORCE_BUILD_VENDOR_PKG)
+-  find_package(zstd QUIET)
++  find_package(PkgConfig REQUIRED)
++  pkg_check_modules(ZSTD REQUIRED libzstd>=1.4.4)
+ endif()
+ 
+-macro(build_zstd)
+-  set(extra_cmake_args)
+-
+-  if(DEFINED CMAKE_BUILD_TYPE)
+-    list(APPEND extra_cmake_args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+-  endif()
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-  else()
+-    list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  endif()
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}")
+-
+-  include(ExternalProject)
+-  # The CMakeLists.txt file for zstd is in a subdirectory.
+-  # We need to configure the CMake command to build from there instead.
+-  ExternalProject_Add(zstd-1.4.4
+-    URL https://github.com/facebook/zstd/archive/v1.4.4.zip
+-    URL_MD5 3a5c3a535280b7f4dfdbd739fcc7173f
+-    TIMEOUT 60
+-    SOURCE_SUBDIR build/cmake
+-    CMAKE_ARGS
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+-      -DZSTD_BUILD_STATIC=OFF
+-      -DZSTD_BUILD_SHARED=ON
+-      -DZSTD_BUILD_PROGRAMS=OFF
+-      ${extra_cmake_args}
+-    # Note: zstd v1.4.6 will include the following fix. When that is released, upgrade and remove this patch.
+-    PATCH_COMMAND
+-      patch -p1 -d . < ${CMAKE_CURRENT_SOURCE_DIR}/cmake_minimum_required_2.8.12.patch &&
+-      patch -p1 -d . < ${CMAKE_CURRENT_SOURCE_DIR}/no_internal_headers.patch
+-  )
+-
+-  install(
+-    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/
+-    DESTINATION ${CMAKE_INSTALL_PREFIX}
+-    USE_SOURCE_PERMISSIONS)
+-endmacro()
+-
+-if (NOT zstd_FOUND OR "${zstd_VERSION}" VERSION_LESS 1.4.4)
+-  build_zstd()
++if (NOT ZSTD_FOUND OR "${ZSTD_VERSION}" VERSION_LESS 1.4.4)
++  message(STATUS "Zstd not found, missing dependency or version less than 1.4.4, found ${ZSTD_VERSION}")
+ else()
+   message(STATUS "Found Zstd, skipping build.")
+ endif()
+ 
+ install(DIRECTORY cmake DESTINATION share/${PROJECT_NAME})
+-
+-ament_package(CONFIG_EXTRAS zstd_vendor-extras.cmake)
diff --git a/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor_0.7.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor_0.7.0-1.bbappend
new file mode 100644
index 00000000000..8da7e06dc9b
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosbag2/zstd-vendor_0.7.0-1.bbappend
@@ -0,0 +1,4 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-prevent-building-zstd-with-ExternalPr.patch"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-defaults/rosidl-default-runtime_1.1.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-defaults/rosidl-default-runtime_1.1.1-1.bbappend
new file mode 100644
index 00000000000..a2eb9300f35
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-defaults/rosidl-default-runtime_1.1.1-1.bbappend
@@ -0,0 +1,23 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# inherit python3native
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    python3 \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    rosidl-runtime-c \
+    rosidl-runtime-cpp \
+    rosidl-typesupport-introspection-c \
+    rosidl-typesupport-introspection-cpp \
+    rmw \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-python/rosidl-generator-py_0.11.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-python/rosidl-generator-py_0.11.0-1.bbappend
new file mode 100644
index 00000000000..1dfdb99fceb
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-python/rosidl-generator-py_0.11.0-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_EXPORT_DEPENDS += " \
+    rosidl-generator-c \
+    rosidl-typesupport-c \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-c_1.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-c_1.2.1-1.bbappend
new file mode 100644
index 00000000000..98b4b8ea636
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-c_1.2.1-1.bbappend
@@ -0,0 +1,9 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# Without the target rosidl-typesupport-fastrtps-cpp, ament finds the native packages and then fails to link
+# (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    fastcdr \
+    fastrtps \
+    rosidl-typesupport-fastrtps-cpp \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-cpp_1.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-cpp_1.2.1-1.bbappend
new file mode 100644
index 00000000000..5a88e8aab85
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-cpp_1.2.1-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    fastcdr \
+    fastrtps \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-c_%.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-c_%.bbappend
new file mode 100644
index 00000000000..98377bc794a
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-c_%.bbappend
@@ -0,0 +1,4 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'rosidl-typesupport-connext-c', '', d)}"
+ROS_BUILD_DEPENDS_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'opensplice', 'rosidl-typesupport-opensplice-c', '', d)}"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-cpp_%.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-cpp_%.bbappend
new file mode 100644
index 00000000000..f66ff7d655c
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl-typesupport/rosidl-typesupport-cpp_%.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', 'rosidl-typesupport-connext-cpp', '', d)}"
+ROS_BUILD_DEPENDS_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'opensplice', 'rosidl-typesupport-opensplice-cpp', '', d)}"
+
+DEPENDS += "rosidl-cmake"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-adapter_2.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-adapter_2.2.1-1.bbappend
new file mode 100644
index 00000000000..8b9e2cf44e1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-adapter_2.2.1-1.bbappend
@@ -0,0 +1,4 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "ament-cmake"
+ROS_BUILDTOOL_DEPENDS += "ament-cmake-native"
diff --git a/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-generator-c_2.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-generator-c_2.2.1-1.bbappend
new file mode 100644
index 00000000000..93f0a418dd5
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rosidl/rosidl-generator-c_2.2.1-1.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# it's already in ROS_TEST_DEPENDS, but do_configure fails without
+# it even when testing isn't enabled
+DEPENDS += "rosidl-runtime-c"
+
+# exported in rosidl_generator_c/cmake/ament_cmake_export_dependencies-extras.cmake
+DEPENDS += "rosidl-cmake"
diff --git a/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor/0001-CMakeLists-remove-all-ExternalProject_Add-calls-and-.patch b/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor/0001-CMakeLists-remove-all-ExternalProject_Add-calls-and-.patch
new file mode 100644
index 00000000000..6e79c1084fb
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor/0001-CMakeLists-remove-all-ExternalProject_Add-calls-and-.patch
@@ -0,0 +1,247 @@
+From 98aa8e22c455cfd5896257def2c1d6ea110feeb6 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Thu, 28 May 2020 14:55:35 -0700
+Subject: [PATCH] CMakeLists: remove all ExternalProject_Add calls and use ogre
+ from platform recipe
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 220 ++-----------------------------------------------
+ 1 file changed, 6 insertions(+), 214 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c400c07f..e22a8cbd 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,223 +6,15 @@ find_package(ament_cmake REQUIRED)
+ 
+ set(PACKAGE_VERSION "1.0.0")
+ 
+-if(WIN32)
+-  set(BUILDING_FREETYPE_LOCALLY ON)
+-  set(BUILDING_ZLIB_LOCALLY ON)
++# We arrange for the platform ogre to be built from the same commit as that from which the ExternalProject is built => no
++# invocation of ament_environment_hooks().
++find_package(OGRE)
++if(OGRE_FOUND)
++  message(STATUS "Found ogre ${OGRE_VERSION}")
+ else()
+-  set(BUILDING_FREETYPE_LOCALLY OFF)
+-  set(BUILDING_ZLIB_LOCALLY OFF)
++  message(FATAL_ERROR "ogre not found -- missing from DEPENDS?")
+ endif()
+ 
+-if(WIN32 AND NOT ${CMAKE_VERBOSE_MAKEFILE})
+-  set(should_log ON)  # prevent warnings in Windows CI
+-else()
+-  set(should_log OFF)
+-endif()
+-
+-macro(build_freetype)
+-  set(extra_cmake_args)
+-  set(FREETYPE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+-
+-  if(WIN32)
+-    list(APPEND FREETYPE_CXX_FLAGS "/w")
+-    list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=/w")
+-  endif()
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-  else()
+-    list(APPEND extra_cmake_args "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
+-    list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  endif()
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${FREETYPE_CXX_FLAGS}")
+-
+-  include(ExternalProject)
+-  ExternalProject_Add(freetype-2.8.1
+-    URL https://git.savannah.gnu.org/cgit/freetype/freetype2.git/snapshot/freetype2-VER-2-6-5.tar.gz
+-    URL_MD5 0dd62a0125895431e074a3df29f94d69
+-    TIMEOUT 600
+-    LOG_CONFIGURE ${should_log}
+-    LOG_BUILD ${should_log}
+-    CMAKE_ARGS
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/freetype_install
+-      ${extra_cmake_args}
+-      -Wno-dev
+-      -DWITH_ZLIB=OFF
+-      -DWITH_BZip2=OFF
+-      -DWITH_PNG=OFF
+-      -DWITH_HarfBuzz=OFF
+-  )
+-
+-  install(
+-    DIRECTORY
+-      ${CMAKE_CURRENT_BINARY_DIR}/freetype_install/
+-    DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor
+-  )
+-endmacro()
+-
+-macro(build_zlib)
+-  set(extra_cmake_args)
+-  set(ZLIB_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+-
+-  if(WIN32)
+-    list(APPEND ZLIB_CXX_FLAGS "/w")
+-    list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=/w")
+-  endif()
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-  else()
+-    list(APPEND extra_cmake_args "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
+-    list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  endif()
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${ZLIB_CXX_FLAGS}")
+-
+-  include(ExternalProject)
+-  ExternalProject_Add(zlib-1.2.11
+-    URL https://www.zlib.net/fossils/zlib-1.2.11.tar.gz
+-    URL_MD5 1c9f62f0778697a09d36121ead88e08e
+-    TIMEOUT 600
+-    LOG_CONFIGURE ${should_log}
+-    LOG_BUILD ${should_log}
+-    CMAKE_ARGS
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/zlib-install
+-      ${extra_cmake_args}
+-      -Wno-dev
+-  )
+-
+-  install(
+-    DIRECTORY
+-      ${CMAKE_CURRENT_BINARY_DIR}/zlib-install/
+-    DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor
+-  )
+-endmacro()
+-
+-macro(build_ogre)
+-  set(extra_cmake_args)
+-  set(OGRE_CXX_FLAGS)
+-  # standard library is important for linking, but the other cxx flags are not
+-  if(CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
+-    set(OGRE_CXX_FLAGS "${OGRE_CXX_FLAGS} -stdlib=libc++")
+-  endif()
+-
+-  if(DEFINED CMAKE_BUILD_TYPE)
+-    list(APPEND extra_cmake_args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+-  endif()
+-
+-  if(WIN32)
+-    set(OGRE_CXX_FLAGS "${OGRE_CXX_FLAGS} /w /EHsc")
+-    list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=/w /EHsc")
+-  elseif(APPLE)
+-    set(OGRE_CXX_FLAGS "${OGRE_CXX_FLAGS} -std=c++14 -stdlib=libc++ -w")
+-    list(APPEND extra_cmake_args "-DCMAKE_OSX_ARCHITECTURES='x86_64'")
+-  else()  # Linux
+-    # include Clang -Wno-everything to disable warnings in that build. GCC doesn't mind it
+-    set(OGRE_CXX_FLAGS "${OGRE_CXX_FLAGS} -std=c++14 -w -Wno-everything")
+-    list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=-w")
+-  endif()
+-  list(APPEND extra_cmake_args "-DOGRE_BUILD_RENDERSYSTEM_GL:BOOL=TRUE")
+-  list(APPEND extra_cmake_args "-DOGRE_BUILD_RENDERSYSTEM_D3D11:BOOL=OFF")
+-  list(APPEND extra_cmake_args "-DOGRE_BUILD_RENDERSYSTEM_D3D9:BOOL=OFF")
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${OGRE_CXX_FLAGS}")
+-
+-  # Uncomment this line to enable the GL3PLUS render engine
+-  # list(APPEND extra_cmake_args "-DOGRE_BUILD_RENDERSYSTEM_GL3PLUS:BOOL=TRUE")
+-
+-  # These next lines can be used to disable some of the components or plugins for OGRE
+-  list(APPEND extra_cmake_args "-DOGRE_CONFIG_ENABLE_ZIP:BOOL=ON")
+-
+-  if(BUILDING_FREETYPE_LOCALLY)
+-    list(APPEND extra_cmake_args
+-      "-DFREETYPE_HOME=${CMAKE_CURRENT_BINARY_DIR}/freetype_install")
+-  endif()
+-  if(BUILDING_ZLIB_LOCALLY)
+-    list(APPEND extra_cmake_args
+-      "-DZLIB_ROOT=${CMAKE_CURRENT_BINARY_DIR}/zlib-install")
+-  endif()
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-  else()
+-    list(APPEND extra_cmake_args "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
+-    list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  endif()
+-
+-  find_package(Patch REQUIRED)
+-  include(ExternalProject)
+-  ExternalProject_Add(ogre-v1.12.1
+-    URL https://github.com/OGRECave/ogre/archive/v1.12.1.zip
+-    URL_MD5 cdbea4006d223c173e0a93864111b936
+-    TIMEOUT 1200
+-    LOG_CONFIGURE ${should_log}
+-    LOG_BUILD ${should_log}
+-    CMAKE_ARGS
+-      -DOGRE_STATIC:BOOL=OFF
+-      -DOGRE_DEPENDENCIES_DIR=${CMAKE_CURRENT_BINARY_DIR}/ogredeps
+-      -DOGRE_INSTALL_PDB:BOOL=OFF
+-      -DOGRE_BUILD_DEPENDENCIES:BOOL=OFF
+-      -DOGRE_BUILD_TESTS:BOOL=OFF
+-      -DOGRE_BUILD_SAMPLES:BOOL=FALSE
+-      -DOGRE_INSTALL_SAMPLES:BOOL=FALSE
+-      -DOGRE_INSTALL_SAMPLES_SOURCE:BOOL=FALSE
+-      -DOGRE_CONFIG_THREADS:STRING=0
+-      -DOGRE_RESOURCEMANAGER_STRICT:STRING=2
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/ogre_install
+-      -DOGRE_BUILD_LIBS_AS_FRAMEWORKS:BOOL=OFF
+-      -DOGRE_BUILD_COMPONENT_PYTHON:BOOL=FALSE
+-      -DOGRE_BUILD_COMPONENT_JAVA:BOOL=FALSE
+-      -DOGRE_BUILD_COMPONENT_CSHARP:BOOL=FALSE
+-      -DOGRE_BUILD_COMPONENT_BITES:BOOL=FALSE
+-      ${extra_cmake_args}
+-      -Wno-dev
+-    PATCH_COMMAND
+-      ${Patch_EXECUTABLE} -p1 -N < ${CMAKE_CURRENT_SOURCE_DIR}/pragma-patch.diff
+-    COMMAND
+-      ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/FindFreetype.cmake ${CMAKE_CURRENT_BINARY_DIR}/ogre-v1.12.1-prefix/src/ogre-v1.12.1/CMake/Packages/FindFreetype.cmake
+-  )
+-
+-  if(BUILDING_FREETYPE_LOCALLY)
+-    add_dependencies(ogre-v1.12.1 freetype-2.8.1)
+-  endif()
+-  if(BUILDING_ZLIB_LOCALLY)
+-    add_dependencies(ogre-v1.12.1 zlib-1.2.11)
+-  endif()
+-
+-  # The external project will install to the build folder, but we'll install that on make install.
+-  install(
+-    DIRECTORY
+-      ${CMAKE_CURRENT_BINARY_DIR}/ogre_install/
+-    DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor
+-  )
+-endmacro()
+-
+-if(BUILDING_FREETYPE_LOCALLY)
+-  build_freetype()
+-endif()
+-if(BUILDING_ZLIB_LOCALLY)
+-  build_zlib()
+-endif()
+-
+-build_ogre()
+-
+-if(WIN32)
+-  ament_environment_hooks(env_hook/rviz_ogre_vendor_library_path.bat)
+-  set(ENV_VAR_NAME "PATH")
+-  set(ENV_VAR_VALUE "opt\\rviz_ogre_vendor\\bin")
+-else()
+-  ament_environment_hooks(env_hook/rviz_ogre_vendor_library_path.sh)
+-  if(APPLE)
+-    set(ENV_VAR_NAME "DYLD_LIBRARY_PATH")
+-  else()
+-    set(ENV_VAR_NAME "LD_LIBRARY_PATH")
+-  endif()
+-  set(ENV_VAR_VALUE "opt/rviz_ogre_vendor/lib")
+-endif()
+-ament_environment_hooks(env_hook/rviz_ogre_vendor_library_path.dsv.in)
+-
+ ament_package(
+   CONFIG_EXTRAS "rviz_ogre_vendor-extras.cmake.in"
+ )
diff --git a/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor_%.bbappend b/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor_%.bbappend
new file mode 100644
index 00000000000..5ad4654ce65
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/rviz/rviz-ogre-vendor_%.bbappend
@@ -0,0 +1,12 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# We arrange for the platform ogre to be built from the same commit as that from which the ExternalProject is built. If the
+# commit changes, the patch will not apply cleanly and we'll know we need to update the .bbappend for yaml-cpp.
+DEPENDS += "ogre"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists-remove-all-ExternalProject_Add-calls-and-.patch"
+
+# libxaw is empty, the library is installed in libxaw6 and libxaw7 packages
+# and ogre should get runtime dependency automatically through shlibs
+RDEPENDS_${PN}_remove = "libxaw"
diff --git a/meta-ros2-galactic/recipes-bbappends/spdlog-vendor/spdlog-vendor_1.3.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/spdlog-vendor/spdlog-vendor_1.3.0-1.bbappend
new file mode 100644
index 00000000000..5844e268337
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/spdlog-vendor/spdlog-vendor_1.3.0-1.bbappend
@@ -0,0 +1,7 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# spdlog is header only library and PN is empty, so it wasn't created
+RDEPENDS_${PN}_remove = "spdlog"
+
+# ERROR: spdlog-vendor-1.1.1-1-r0 do_package_qa: QA Issue: non -dev/-dbg/nativesdk- package contains symlink .so: spdlog-vendor path '/work/aarch64-oe-linux/spdlog-vendor/1.1.1-1-r0/packages-split/spdlog-vendor/usr/lib/libspdlog.so' [dev-so]
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/system-modes/system-modes_0.6.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/system-modes/system-modes_0.6.0-1.bbappend
new file mode 100644
index 00000000000..a3d542da2df
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/system-modes/system-modes_0.6.0-1.bbappend
@@ -0,0 +1,12 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-adapter-native \
+    rosidl-default-generators-native \
+    rosidl-parser-native \
+    python3-empy-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/teleop-tools/teleop-tools-msgs_1.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/teleop-tools/teleop-tools-msgs_1.2.1-1.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/teleop-tools/teleop-tools-msgs_1.2.1-1.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/turtlesim/turtlesim_%.bbappend b/meta-ros2-galactic/recipes-bbappends/turtlesim/turtlesim_%.bbappend
new file mode 100644
index 00000000000..b54f3650efd
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/turtlesim/turtlesim_%.bbappend
@@ -0,0 +1,15 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+# Make this conditional on meta-qt5, because otherwise builds without
+# meta-qt5 fail to parse, before turtlesim is PNBLACKLISTed based
+# on qt5 in ROS_WORLD_SKIP_GROUPS
+# ERROR: ParseError at meta-ros/meta-ros2-dashing/recipes-bbappends/turtlesim/turtlesim_%.bbappend:3: Could not inherit file classes/cmake_qt5.bbclass
+inherit ${@bb.utils.contains('BBFILE_COLLECTIONS', 'qt5-layer', 'cmake_qt5', '', d)}
+
+# Keep in mind that this needs widgets enabled in qtbase PACKAGECONFIG which webOS OSE explicitly disables:
+# meta-webos/recipes-qt/qt5/qtbase_git.bbappend:PACKAGECONFIG_remove = "widgets"
+
+DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/ublox/ublox-msgs_2.0.0-2.bbappend b/meta-ros2-galactic/recipes-bbappends/ublox/ublox-msgs_2.0.0-2.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/ublox/ublox-msgs_2.0.0-2.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/udp-msgs/udp-msgs_0.0.3-2.bbappend b/meta-ros2-galactic/recipes-bbappends/udp-msgs/udp-msgs_0.0.3-2.bbappend
new file mode 100644
index 00000000000..145070af029
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/udp-msgs/udp-msgs_0.0.3-2.bbappend
@@ -0,0 +1,16 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+    rosidl-adapter-native \
+    ament-cmake-ros-native \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-generator-py-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor/0001-CMakeLists.txt-fetch-uncrustify-with-bitbake-fetcher.patch b/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor/0001-CMakeLists.txt-fetch-uncrustify-with-bitbake-fetcher.patch
new file mode 100644
index 00000000000..265a6259d3f
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor/0001-CMakeLists.txt-fetch-uncrustify-with-bitbake-fetcher.patch
@@ -0,0 +1,37 @@
+From 2661a731c10c745413fb33a69c5515e7f3dcfa4f Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Mon, 27 Jul 2020 09:56:44 -0700
+Subject: [PATCH] CMakeLists.txt: fetch uncrustify with bitbake fetcher
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ CMakeLists.txt | 10 +---------
+ 1 file changed, 1 insertion(+), 9 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 22b2549..d06eb1b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -42,19 +42,11 @@ macro(build_uncrustify)
+   set(uncrustify_version 45b836cff040594994d364ad6fd3f04adc890a26)
+   # Get uncrustify 0.68.1
+   ExternalProject_Add(uncrustify-${uncrustify_version}
+-    GIT_REPOSITORY https://github.com/uncrustify/uncrustify.git
+-    GIT_TAG ${uncrustify_version}
+-    GIT_CONFIG advice.detachedHead=false
+-    # Suppress git update due to https://gitlab.kitware.com/cmake/cmake/-/issues/16419
+-    # See https://github.com/ament/uncrustify_vendor/pull/22 for details
+-    UPDATE_COMMAND ""
+-    TIMEOUT 600
++    SOURCE_DIR ${CMAKE_SOURCE_DIR}/uncrustify-upstream
+     CMAKE_ARGS
+       -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+       ${extra_cmake_args}
+       -Wno-dev
+-    PATCH_COMMAND
+-      ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> git apply -p1 --ignore-space-change --whitespace=nowarn ${CMAKE_CURRENT_SOURCE_DIR}/install-patch.diff
+   )
+ 
+   # The external project will install to the build folder, but we'll install that on make install.
diff --git a/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor_1.5.3-1.bbappend b/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor_1.5.3-1.bbappend
new file mode 100644
index 00000000000..25e24a0e235
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/uncrustify-vendor/uncrustify-vendor_1.5.3-1.bbappend
@@ -0,0 +1,19 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# uncrustify appears in both ROS_BUILD_DEPENDS and ROS_EXPORT_DEPENDS, so it's easier to remove it from DEPENDS.
+DEPENDS_remove = "${ROS_UNRESOLVED_DEP-uncrustify}"
+ROS_EXEC_DEPENDS_remove = "${ROS_UNRESOLVED_DEP-uncrustify}"
+
+# Instead of fetching
+# https://github.com/uncrustify/uncrustify/archive/45b836cff040594994d364ad6fd3f04adc890a26.tar.gz
+# during do_compile
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-CMakeLists.txt-fetch-uncrustify-with-bitbake-fetcher.patch \
+    git://github.com/uncrustify/uncrustify.git;protocol=https;name=uncrustify;destsuffix=git/uncrustify-upstream \
+    https://raw.githubusercontent.com/ros2-gbp/uncrustify_vendor-release/release/foxy/uncrustify_vendor/1.4.0-1/install-patch.diff;name=patch;patchdir=uncrustify-upstream \
+"
+# It's called 0.68.1 in uncrustify_vendor, but it's actually 26 commits after uncrustify-0.69.0 tag
+SRCREV_uncrustify = "45b836cff040594994d364ad6fd3f04adc890a26"
+
+SRC_URI[patch.md5sum] = "7561aaffb9d311c50199ec2a8d36ae94"
+SRC_URI[patch.sha256sum] = "14a8f11f8e7c68d4363ccf88cc5edb59d4cd6d35086cfdddd98763f596db601e"
diff --git a/meta-ros2-galactic/recipes-bbappends/unique-identifier-msgs/unique-identifier-msgs_2.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/unique-identifier-msgs/unique-identifier-msgs_2.2.1-1.bbappend
new file mode 100644
index 00000000000..7c58570b4cc
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/unique-identifier-msgs/unique-identifier-msgs_2.2.1-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+# Without the target dependencies, ament finds the native packages and then fails to link (error: incompatible target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-default-runtime \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0001-setup.cfg-fix-warning.patch b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0001-setup.cfg-fix-warning.patch
new file mode 100644
index 00000000000..f66f3d0d778
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0001-setup.cfg-fix-warning.patch
@@ -0,0 +1,29 @@
+From 6c31fcf8d34f5ffa57f0bffe659ba88d1a3e3407 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 16 Apr 2021 08:15:47 +0000
+Subject: [PATCH] setup.cfg: fix warning
+
+DEBUG: Executing shell function do_install
+/jenkins/mjansa/build/ros/webos-rolling-hardknott/tmp-glibc/work/qemux86-webos-linux/urdfdom-py/1.1.0-1-r0/recipe-sysroot-native/usr/lib/python3.9/site-packages/setuptools/dist.py:634: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
+  warnings.warn(
+/jenkins/mjansa/build/ros/webos-rolling-hardknott/tmp-glibc/work/qemux86-webos-linux/urdfdom-py/1.1.0-1-r0/recipe-sysroot-native/usr/lib/python3.9/site-packages/setuptools/dist.py:634: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead
+  warnings.warn(
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ setup.cfg | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/setup.cfg b/setup.cfg
+index 2ca3729..e6ab973 100644
+--- a/setup.cfg
++++ b/setup.cfg
+@@ -1,4 +1,4 @@
+ [develop]
+-script-dir=$base/share/urdfdom_py/scripts
++script_dir=$base/share/urdfdom_py/scripts
+ [install]
+-install-scripts=$base/share/urdfdom_py/scripts
++install_scripts=$base/share/urdfdom_py/scripts
diff --git a/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0002-setup.py-install-data_files-without-share-prefix.patch b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0002-setup.py-install-data_files-without-share-prefix.patch
new file mode 100644
index 00000000000..3f87cdc3b06
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py/0002-setup.py-install-data_files-without-share-prefix.patch
@@ -0,0 +1,44 @@
+From 760272661c826258166e7e97545baee29f70b195 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <martin.jansa@lge.com>
+Date: Fri, 16 Apr 2021 08:18:53 +0000
+Subject: [PATCH] setup.py: install data_files without share/ prefix
+
+* distutils3.bbclass has a bandaid against python recipes installing files
+  into /usr/share/share directory since 2009:
+  https://git.openembedded.org/openembedded/commit/classes/distutils.bbclass?id=5a0fecab4a7a17ab7218e522c2750f0fb8c9aa45
+  imported into oe-core in 2009 with:
+  https://git.openembedded.org/openembedded-core/commit/meta/classes/distutils.bbclass?id=288e62a22115a32effc65efa7c2d6ef2867d0b91
+
+  but here it doesn't work, because urdfdom-py has both
+  /usr/share/share/urdfdom_py as well as /usr/share/urdfdom_py:
+
+image/usr/share/urdfdom_py
+image/usr/share/urdfdom_py/scripts
+image/usr/share/urdfdom_py/scripts/display_urdf
+image/usr/share/share
+image/usr/share/share/urdfdom_py
+image/usr/share/share/urdfdom_py/package.xml
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <martin.jansa@lge.com>
+---
+ setup.py | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/setup.py b/setup.py
+index c3986e1..a3a0a5c 100644
+--- a/setup.py
++++ b/setup.py
+@@ -9,9 +9,9 @@ setup(
+     package_dir={'': 'src'},
+     packages=['urdf_parser_py', 'urdf_parser_py.xml_reflection'],
+     data_files=[
+-        ('share/ament_index/resource_index/packages',
++        ('ament_index/resource_index/packages',
+             ['resource/' + package_name]),
+-        ('share/' + package_name, ['package.xml']),
++        (package_name, ['package.xml']),
+     ],
+     install_requires=['setuptools'],
+     zip_safe=True,
diff --git a/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py_1.1.0-1.bbappend b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py_1.1.0-1.bbappend
new file mode 100644
index 00000000000..486088bdde6
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/urdf-parser-py/urdfdom-py_1.1.0-1.bbappend
@@ -0,0 +1,22 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "\
+    file://0001-setup.cfg-fix-warning.patch \
+    file://0002-setup.py-install-data_files-without-share-prefix.patch \
+"
+
+# similar to what distutil3.bbclass does here:
+# https://git.openembedded.org/openembedded-core/tree/meta/classes/distutils3.bbclass?h=hardknott#n46
+# but the files we want to modify aren't in ${bindir}/${sbindir}, but ${datadir}/urdfdom_py/scripts/
+
+# $ head -n 1 tmp-glibc/work/qemux86-webos-linux/urdfdom-py/1.1.0-1-r0/packages-split/urdfdom-py/usr/share/urdfdom_py/scripts/display_urdf
+#!/jenkins/mjansa/build/ros/webos-rolling-hardknott/tmp-glibc/work/qemux86-webos-linux/urdfdom-py/1.1.0-1-r0/recipe-sysroot-native/usr/bin/python3-native/python3
+do_install_append() {
+    for i in ${D}${datadir}/urdfdom_py/scripts/*; do
+        if [ -f "$i" ]; then
+            sed -i -e s:${PYTHON}:${USRBINPATH}/env\ ${DISTUTILS_PYTHON}:g $i
+            sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
+        fi
+    done
+}
diff --git a/meta-ros2-galactic/recipes-bbappends/urdfdom/urdfdom_%.bbappend b/meta-ros2-galactic/recipes-bbappends/urdfdom/urdfdom_%.bbappend
new file mode 100644
index 00000000000..fbec724e980
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/urdfdom/urdfdom_%.bbappend
@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+inherit ros_insane_dev_so
diff --git a/meta-ros2-galactic/recipes-bbappends/urg-node-msgs/urg-node-msgs_1.0.1-4.bbappend b/meta-ros2-galactic/recipes-bbappends/urg-node-msgs/urg-node-msgs_1.0.1-4.bbappend
new file mode 100644
index 00000000000..ff91c247b92
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/urg-node-msgs/urg-node-msgs_1.0.1-4.bbappend
@@ -0,0 +1,12 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    python3-numpy-native \
+    rosidl-generator-c-native \
+    rosidl-generator-cpp-native \
+    rosidl-generator-py-native \
+    rosidl-typesupport-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-introspection-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/variants/ros-core_%.bbappend b/meta-ros2-galactic/recipes-bbappends/variants/ros-core_%.bbappend
new file mode 100644
index 00000000000..17fd7f86dcd
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/variants/ros-core_%.bbappend
@@ -0,0 +1,22 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# Need this to launch anything ROS.
+ROS_EXEC_DEPENDS += " \
+    ros-workspace \
+    rosidl-generator-cpp \
+    rosidl-typesupport-c \
+"
+
+# core-* OE images do not support development.
+ROS_EXEC_DEPENDS_remove = "ament-cmake"
+ROS_EXEC_DEPENDS_remove = "ament-cmake-auto"
+ROS_EXEC_DEPENDS_remove = "ament-cmake-gmock"
+ROS_EXEC_DEPENDS_remove = "ament-cmake-gtest"
+ROS_EXEC_DEPENDS_remove = "ament-cmake-pytest"
+ROS_EXEC_DEPENDS_remove = "ament-cmake-ros"
+ROS_EXEC_DEPENDS_remove = "ament-index-cpp"
+ROS_EXEC_DEPENDS_remove = "ament-index-python"
+ROS_EXEC_DEPENDS_remove = "ament-lint-auto"
+ROS_EXEC_DEPENDS_remove = "ament-lint-common"
+ROS_EXEC_DEPENDS_remove = "launch-testing-ament-cmake"
+ROS_EXEC_DEPENDS_remove = "rosidl-default-generators"
diff --git a/meta-ros2-galactic/recipes-bbappends/vision-opencv/cv-bridge_2.2.1-1.bbappend b/meta-ros2-galactic/recipes-bbappends/vision-opencv/cv-bridge_2.2.1-1.bbappend
new file mode 100644
index 00000000000..0ceeddc4098
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/vision-opencv/cv-bridge_2.2.1-1.bbappend
@@ -0,0 +1,8 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS_remove = "python-numpy"
+ROS_BUILD_DEPENDS_remove = "python3-numpy"
+
+ROS_BUILDTOOL_DEPENDS += " \
+    ${PYTHON_PN}-numpy-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/webots-ros2/webots-ros2-msgs_1.0.6-1.bbappend b/meta-ros2-galactic/recipes-bbappends/webots-ros2/webots-ros2-msgs_1.0.6-1.bbappend
new file mode 100644
index 00000000000..60ca646304e
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/webots-ros2/webots-ros2-msgs_1.0.6-1.bbappend
@@ -0,0 +1,6 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-fastrtps-c-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+"
diff --git a/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor/0001-Use-platform-yaml-cpp.patch b/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor/0001-Use-platform-yaml-cpp.patch
new file mode 100644
index 00000000000..e791c965285
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor/0001-Use-platform-yaml-cpp.patch
@@ -0,0 +1,110 @@
+From 180387c415a4880427bc22d559915faf6b44931d Mon Sep 17 00:00:00 2001
+From: Herb Kuta <herb.kuta@lge.com>
+Date: Tue, 31 Dec 2019 10:17:22 -0800
+Subject: [PATCH] Use platform yaml-cpp
+
+Upstream-Status: Pending
+---
+ CMakeLists.txt | 88 ++++----------------------------------------------
+ 1 file changed, 6 insertions(+), 82 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d58cb14..5fe8fbd 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -10,89 +10,13 @@ find_package(ament_cmake REQUIRED)
+ 
+ set(PACKAGE_VERSION "1.0.0")
+ 
+-macro(build_yaml_cpp)
+-  set(extra_cmake_args)
+-  set(YAML_C_FLAGS ${CMAKE_C_FLAGS})
+-  set(YAML_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+-
+-  if(DEFINED CMAKE_BUILD_TYPE)
+-    list(APPEND extra_cmake_args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+-  endif()
+-  if(NOT WIN32)
+-    list(APPEND YAML_C_FLAGS "-w")
+-    list(APPEND YAML_CXX_FLAGS "-std=c++14 -w")
+-  endif()
+-
+-  list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_TESTS=OFF")
+-  list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_TOOLS=OFF")
+-  list(APPEND extra_cmake_args "-DYAML_CPP_BUILD_CONTRIB=OFF")
+-  list(APPEND extra_cmake_args "-DBUILD_SHARED_LIBS=ON")
+-  list(APPEND extra_cmake_args "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
+-  list(APPEND extra_cmake_args "-DCMAKE_C_FLAGS=${YAML_C_FLAGS}")
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+-  list(APPEND extra_cmake_args "-DCMAKE_CXX_FLAGS=${YAML_CXX_FLAGS}")
+-
+-  if(WIN32 AND NOT ${CMAKE_VERBOSE_MAKEFILE})
+-    set(should_log ON)  # prevent warnings in Windows CI
+-  else()
+-    set(should_log OFF)
+-  endif()
+-
+-  if(DEFINED CMAKE_TOOLCHAIN_FILE)
+-    list(APPEND extra_cmake_args "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+-  endif()
+-
+-  include(ExternalProject)
+-  # This specific version (past the current latest release of 0.5.3) is required to make
+-  # yaml-cpp relocatable, hopefully it is released again soon.
+-  # See: https://github.com/jbeder/yaml-cpp/pull/538
+-  # Latest release fails to compile on recent visual studio (VS2017 v15.8.1)
+-  # See: https://github.com/jbeder/yaml-cpp/pull/597
+-  ExternalProject_Add(yaml_cpp-0f9a586
+-    URL https://github.com/jbeder/yaml-cpp/archive/0f9a586ca1dc29c2ecb8dd715a315b93e3f40f79.zip
+-    URL_MD5 ec76c27ebd07d5178cbe85b773df8e62
+-    TIMEOUT 600
+-    LOG_CONFIGURE ${should_log}
+-    LOG_BUILD ${should_log}
+-    CMAKE_ARGS
+-      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/yaml_cpp_install
+-      ${extra_cmake_args}
+-      -Wno-dev
+-  )
+-
+-  # The external project will install to the build folder, but we'll install that on make install.
+-  install(
+-    DIRECTORY
+-      ${CMAKE_CURRENT_BINARY_DIR}/yaml_cpp_install/
+-    DESTINATION
+-      ${CMAKE_INSTALL_PREFIX}/opt/yaml_cpp_vendor
+-    USE_SOURCE_PERMISSIONS
+-  )
+-endmacro()
+-
+-# NO_CMAKE_PACKAGE_REGISTRY used to avoid finding the library downloaded in WORKSPACE B
+-# when building workspace A.
+-# This should only find a system installed yaml-cpp and thus the environment hook isn't needed.
+-find_package(yaml-cpp 0.6 QUIET NO_CMAKE_PACKAGE_REGISTRY)
+-if(FORCE_BUILD_VENDOR_PKG OR NOT yaml-cpp_FOUND)
+-  build_yaml_cpp()
+-
+-  if(WIN32)
+-    ament_environment_hooks(env_hook/yaml_cpp_vendor_library_path.bat)
+-    set(ENV_VAR_NAME "PATH")
+-    set(ENV_VAR_VALUE "opt\\yaml_cpp_vendor\\bin")
+-  else()
+-    ament_environment_hooks(env_hook/yaml_cpp_vendor_library_path.sh)
+-    if(APPLE)
+-      set(ENV_VAR_NAME "DYLD_LIBRARY_PATH")
+-    else()
+-      set(ENV_VAR_NAME "LD_LIBRARY_PATH")
+-    endif()
+-    set(ENV_VAR_VALUE "opt/yaml_cpp_vendor/lib")
+-  endif()
+-  ament_environment_hooks(env_hook/yaml_cpp_vendor_library_path.dsv.in)
++# We arrange for the platform yaml-cpp to be built from the same commit as that from which the ExternalProject is built => no
++# invocation of ament_environment_hooks().
++find_package(yaml-cpp)
++if(yaml-cpp_FOUND)
++  message(STATUS "Found yaml-cpp ${yaml-cpp_VERSION}")
+ else()
+-  message(STATUS "Found yaml-cpp ${yaml-cpp_VERSION} in path ${yaml-cpp_CONFIG}")
++  message(FATAL_ERROR "yaml-cpp not found -- missing from DEPENDS?")
+ endif()
+ 
+ ament_package(
diff --git a/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend b/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend
new file mode 100644
index 00000000000..01e9175ff90
--- /dev/null
+++ b/meta-ros2-galactic/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend
@@ -0,0 +1,10 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+DESCRIPTION = "Wrapper around yaml-cpp, it provides a fixed CMake module."
+
+# We arrange for the platform yaml-cpp to be built from the same commit as that from which the ExternalProject is built. If the
+# commit changes, the patch will not apply cleanly and we'll know we need to update the .bbappend for yaml-cpp.
+DEPENDS += "yaml-cpp"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/${BPN}:"
+SRC_URI += "file://0001-Use-platform-yaml-cpp.patch"
diff --git a/meta-ros2-galactic/recipes-core/packagegroups/packagegroup-ros-world-galactic.bb b/meta-ros2-galactic/recipes-core/packagegroups/packagegroup-ros-world-galactic.bb
new file mode 100644
index 00000000000..2d991902b06
--- /dev/null
+++ b/meta-ros2-galactic/recipes-core/packagegroups/packagegroup-ros-world-galactic.bb
@@ -0,0 +1,288 @@
+# Copyright (c) 2020-2021 LG Electronics, Inc.
+
+DESCRIPTION = "All non-test packages for the target from files/galactic/cache.yaml"
+LICENSE = "MIT"
+
+# ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_* variables are MACHINE specific
+PACKAGE_ARCH = "${MACHINE_ARCH}"
+
+inherit packagegroup
+inherit ros_distro_galactic
+
+PACKAGES = "${PN}"
+
+RDEPENDS_${PN} = "${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES}"
+
+# Contains only dev, dbg and staticdev files, so PN is empty and not created
+RDEPENDS_${PN}_remove = "test-osrf-testing-tools-cpp"
+
+# It's empty package now, just providing dependency on platform zstd recipe
+RDEPENDS_${PN}_remove = "zstd-vendor"
+
+# It's empty package now, just providing dependency on platform python3-pybind11 recipe
+RDEPENDS_${PN}_remove = "pybind11-vendor"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'cwiid', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CWIID}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CWIID = " \
+    wiimote \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'libspnav', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_LIBSPNAV}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_LIBSPNAV = " \
+    spacenav \
+"
+
+# alternative not yet supported implementation for fastrtps
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'connext', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CONNEXT}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CONNEXT = " \
+    connext-cmake-module \
+    rmw-connext-cpp \
+    rmw-connext-shared-cpp \
+    rmw-connextdds-common \
+    rmw-connextdds \
+    rosidl-typesupport-connext-c \
+    rosidl-typesupport-connext-cpp \
+    rti-connext-dds-cmake-module \
+"
+
+# alternative not yet supported implementation for fastrtps
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gurumdds', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GURUMDDS}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GURUMDDS = " \
+    gurumdds-cmake-module \
+    rmw-gurumdds-cpp \
+    rmw-gurumdds-shared-cpp \
+"
+
+# Can't build these until we figure out how to build clang-format, clang-tidy without building all of clang.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'clang', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CLANG}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_CLANG = " \
+    ament-clang-format \
+    ament-clang-tidy \
+    ament-cmake-clang-format \
+    ament-cmake-clang-tidy \
+"
+
+# Needs work to launch qemu to run tests on image on build machine.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'launch', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_LAUNCH}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_LAUNCH = " \
+    launch-testing-ament-cmake \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'sdformat', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_SDFORMAT}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_SDFORMAT = " \
+    sdformat-urdf \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'coinor-libipopt', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_COINOR_LIBIPOPT}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_COINOR_LIBIPOPT = " \
+    control-box-rst \
+"
+
+# Depends on mesa or libglu which requires opengl or vulkan DISTRO_FEATURE
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'opengl', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_OPENGL}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_OPENGL = " \
+    desktop \
+    libg2o \
+    librealsense2 \
+    realsense-examples \
+    realsense-node \
+    realsense-ros \
+    rviz-common \
+    rviz-default-plugins \
+    rviz-ogre-vendor \
+    rviz-rendering \
+    rviz2 \
+    webots-ros2-epuck \
+    webots-ros2-tiago \
+    webots-ros2-universal-robot \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'qt5', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_META_QT5}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_META_QT5 = " \
+    desktop \
+    joint-state-publisher-gui \
+    python-qt-binding \
+    qt-dotgraph \
+    qt-gui \
+    qt-gui-app \
+    qt-gui-core \
+    qt-gui-cpp \
+    qt-gui-py-common \
+    rqt-action \
+    rqt-bag \
+    rqt-bag-plugins \
+    rqt-common-plugins \
+    rqt-console \
+    rqt-gui \
+    rqt-gui-py \
+    rqt-gui-cpp \
+    rqt-graph \
+    rqt-image-view \
+    rqt-moveit \
+    rqt-msg \
+    rqt-plot \
+    rqt-py-common \
+    rqt-py-console \
+    rqt-publisher \
+    rqt-reconfigure \
+    rqt-robot-monitor \
+    rqt-robot-steering \
+    rqt-service-caller \
+    rqt-shell \
+    rqt-srv \
+    rqt-topic \
+    rqt-top \
+    rqt \
+    rviz-common \
+    rviz-default-plugins \
+    rviz-rendering-tests \
+    rviz-rendering \
+    rviz-visual-testing-framework \
+    rviz2 \
+    turtlesim \
+    webots-ros2-epuck \
+    webots-ros2-tiago \
+    webots-ros2-universal-robot \
+"
+
+# OE won't let us build ffmpeg unless LICENSE_FLAGS_WHITELIST contains "commercial" or "commercial_ffmpeg" or "ffmpeg".
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'ffmpeg', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_FFMPEG}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_FFMPEG = " \
+    mrpt2 \
+"
+
+# OE won't let us build x264 unless LICENSE_FLAGS_WHITELIST contains "commercial" or "commercial_x264" or "x264".
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'x264', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_X264}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_X264 = " \
+    mrpt2 \
+"
+
+# Recipes which need widgets enabled in qtbase PACKAGECONFIG which webOS OSE explicitly disables:
+# meta-webos/recipes-qt/qt5/qtbase_git.bbappend:PACKAGECONFIG_remove = "widgets"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'qt5-widgets', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_QT5_WIDGETS}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_QT5_WIDGETS = " \
+    turtlesim \
+"
+
+# NB. gazebo-msgs is a dependency of non-Gazebo packages, so it doesn't appear here.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GAZEBO}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GAZEBO = " \
+    gazebo-plugins \
+    gazebo-ros-pkgs \
+    gazebo-ros \
+    gazebo-rosdev \
+"
+
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API_x86 = ""
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API_x86-64 = ""
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API_armv7a = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', 'rc-genicam-api rc-genicam-driver', '', d)}"
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API_armv7ve = "${@bb.utils.contains('TUNE_FEATURES', 'callconvention-hard', 'rc-genicam-api rc-genicam-driver', '', d)}"
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API_aarch64 = ""
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API = "\
+    rc-genicam-api \
+    rc-genicam-driver \
+"
+
+ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC = " \
+    ${ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC_RC_GENICAM_API} \
+"
+
+RDEPENDS_${PN}_remove = "${ROS_SUPERFLORE_GENERATED_ARCH_SPECIFIC}"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'pyqt5', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_PYQT5}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_PYQT5 = " \
+    desktop \
+    joint-state-publisher-gui \
+    python-qt-binding \
+    qt-dotgraph \
+    qt-gui-app \
+    qt-gui-core \
+    qt-gui-cpp \
+    qt-gui-py-common \
+    qt-gui \
+    rosmon \
+    rqt-action \
+    rqt-bag \
+    rqt-bag-plugins \
+    rqt-console \
+    rqt-common-plugins \
+    rqt-graph \
+    rqt-gui-cpp \
+    rqt-gui-py \
+    rqt-gui \
+    rqt-image-view \
+    rqt-moveit \
+    rqt-msg \
+    rqt-plot \
+    rqt-publisher \
+    rqt-py-common \
+    rqt-py-console \
+    rqt-reconfigure \
+    rqt-robot-monitor \
+    rqt-robot-steering \
+    rqt-service-caller \
+    rqt-shell \
+    rqt-srv \
+    rqt-topic \
+    rqt-top \
+    rqt \
+"
+
+# do_compile failures
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'qt-gui-cpp', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_QT_GUI_CPP}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_QT_GUI_CPP = " \
+    qt-gui-core \
+    qt-gui-cpp \
+    rosmon \
+    rqt-gui-cpp \
+    rqt \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'x11', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_X11}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_X11 = " \
+    desktop \
+    libg2o \
+    mrpt2 \
+    rviz2 \
+    rviz-common \
+    rviz-default-plugins \
+    rviz-ogre-vendor \
+    rviz-rendering \
+    webots-ros2-epuck \
+    webots-ros2-tiago \
+    webots-ros2-universal-robot \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'glfw', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GLFW}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_GLFW = " \
+    librealsense2 \
+    realsense-examples \
+    realsense-node \
+    realsense-ros \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'ros1', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_ROS1}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_ROS1 = " \
+    rosbag2-bag-v2-plugins \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'babeltrace-python', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_BABELTRACE_PYTHON}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_BABELTRACE_PYTHON = " \
+    ros2trace-analysis \
+    tracetools-analysis \
+    tracetools-read \
+"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'webots-python-modules', '${ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_WEBOTS_PYTHON_MODULES}', '', d)}"
+ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_DEPENDING_ON_WEBOTS_PYTHON_MODULES = " \
+    webots-ros2 \
+    webots-ros2-abb \
+    webots-ros2-demos \
+    webots-ros2-desktop \
+    webots-ros2-core \
+    webots-ros2-examples \
+    webots-ros2-importer \
+    webots-ros2-tesla \
+    webots-ros2-turtlebot \
+    webots-ros2-tutorials \
+"
diff --git a/meta-ros2-galactic/recipes-devtools/libphidget22/libphidget22-upstream_1.6.20200417.bb b/meta-ros2-galactic/recipes-devtools/libphidget22/libphidget22-upstream_1.6.20200417.bb
new file mode 100644
index 00000000000..1b12e1a9423
--- /dev/null
+++ b/meta-ros2-galactic/recipes-devtools/libphidget22/libphidget22-upstream_1.6.20200417.bb
@@ -0,0 +1,35 @@
+# Copyright (c) 2019-2021 LG Electronics, Inc.
+
+DESCRIPTION = "This package wraps the libphidget22 to use it as a ROS dependency"
+AUTHOR = "Martin Günther <martin.guenther@dfki.de>"
+HOMEPAGE = "https://www.phidgets.com/"
+SECTION = "devel"
+LICENSE = "LGPL-3.0+"
+LIC_FILES_CHKSUM = "file://COPYING;md5=d32239bcb673463ab874e80d47fae504 \
+    file://COPYING.LESSER;md5=e6a600fd5e1d9cbde2d983680233ad02 \
+"
+
+DEPENDS = "libusb1"
+
+SRCNAME = "libphidget22"
+
+SRC_URI = "https://www.phidgets.com/downloads/phidget22/libraries/linux/${SRCNAME}/${SRCNAME}-${PV}.tar.gz \
+    https://raw.githubusercontent.com/ros2-gbp/phidgets_drivers-release/release/rolling/libphidget22/2.1.0-1/patch/libphidgets22-1.6.20200417-fix-warnings.patch;name=patch \
+"
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+SRC_URI[sha256sum] = "add8dee691e4bdcb19147cea34630ce0f387d24fe7548900ca98d2b70e60ae9f"
+SRC_URI[patch.sha256sum] = "6eb0dff456faa174205ecfd2153a897b26d254071f91cd914b2aee46285b6449"
+
+inherit autotools
+
+do_configure_prepend() {
+    # configure.ac uses this to define version (1.6 is taken from configure included in tarball, but autotools.bbclass runs autoreconf which fails without layer_version file)
+    echo "1.6" > ${S}/library_version
+}
+
+do_install_append() {
+    # for compatibility with phidgets-api which assumes libphidget22 directory like the ROS wrapper was installing it
+    # phidgets-api/2.0.1-1-r0/git/src/gyroscope.cpp:35:10: fatal error: libphidget22/phidget22.h: No such file or directory
+    ln -snf . ${D}${includedir}/libphidget22
+}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/ros2trace_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/ros2trace_2.3.0-1.bb
new file mode 100644
index 00000000000..054111d1923
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/ros2trace_2.3.0-1.bb
@@ -0,0 +1,66 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "The trace command for ROS 2 command line tools."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/ros2trace/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "ros2trace"
+
+ROS_BUILD_DEPENDS = " \
+    ros2cli \
+    tracetools-trace \
+"
+
+ROS_BUILDTOOL_DEPENDS = ""
+
+ROS_EXPORT_DEPENDS = " \
+    ros2cli \
+    tracetools-trace \
+"
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    ros2cli \
+    tracetools-trace \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-copyright \
+    ament-flake8 \
+    ament-mypy \
+    ament-pep257 \
+    ament-xmllint \
+    python3-pytest \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/ros2trace/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/ros2trace"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "b06cb5888e2b9dded798990d36b32fe54dae853c"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_python"
+
+inherit ros_${ROS_BUILD_TYPE}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-launch_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-launch_2.3.0-1.bb
new file mode 100644
index 00000000000..656a6cfc4cf
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-launch_2.3.0-1.bb
@@ -0,0 +1,69 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "Launch integration for tracing."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/tracetools_launch/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "tracetools_launch"
+
+ROS_BUILD_DEPENDS = " \
+    launch \
+    launch-ros \
+    tracetools-trace \
+"
+
+ROS_BUILDTOOL_DEPENDS = ""
+
+ROS_EXPORT_DEPENDS = " \
+    launch \
+    launch-ros \
+    tracetools-trace \
+"
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    launch \
+    launch-ros \
+    tracetools-trace \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-copyright \
+    ament-flake8 \
+    ament-mypy \
+    ament-pep257 \
+    ament-xmllint \
+    python3-pytest \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/tracetools_launch/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/tracetools_launch"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "4f8a692a22f068915f634b1030cc45447bd60ee7"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_python"
+
+inherit ros_${ROS_BUILD_TYPE}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-read_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-read_2.3.0-1.bb
new file mode 100644
index 00000000000..1187b2d6519
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-read_2.3.0-1.bb
@@ -0,0 +1,59 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "Tools for reading traces."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/tracetools_read/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "tracetools_read"
+
+ROS_BUILD_DEPENDS = ""
+
+ROS_BUILDTOOL_DEPENDS = ""
+
+ROS_EXPORT_DEPENDS = ""
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    ${ROS_UNRESOLVED_DEP-python3-babeltrace} \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-copyright \
+    ament-flake8 \
+    ament-mypy \
+    ament-pep257 \
+    ament-xmllint \
+    python3-pytest \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/tracetools_read/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/tracetools_read"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "88b9bb2b4b9016cd139fb1a4106dbed17547b9af"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_python"
+
+inherit ros_${ROS_BUILD_TYPE}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-test_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-test_2.3.0-1.bb
new file mode 100644
index 00000000000..996c2e1264b
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-test_2.3.0-1.bb
@@ -0,0 +1,77 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "Testing utilities and tests for the tracetools package."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/tracetools_test/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "tracetools_test"
+
+ROS_BUILD_DEPENDS = " \
+    lifecycle-msgs \
+    rclcpp \
+    rclcpp-lifecycle \
+    std-msgs \
+    std-srvs \
+"
+
+ROS_BUILDTOOL_DEPENDS = " \
+    ament-cmake-native \
+    pkgconfig-native \
+"
+
+ROS_EXPORT_DEPENDS = ""
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    lifecycle-msgs \
+    rclcpp \
+    rclcpp-lifecycle \
+    std-msgs \
+    std-srvs \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ${ROS_UNRESOLVED_DEP-python3-pytest-cov} \
+    ament-cmake-gtest \
+    ament-cmake-mypy \
+    ament-cmake-pytest \
+    ament-lint-auto \
+    ament-lint-common \
+    launch-ros \
+    python3-pytest \
+    tracetools \
+    tracetools-launch \
+    tracetools-read \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/tracetools_test/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/tracetools_test"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "cb042445952eedce588c30c85a760c1d6183dd5e"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_cmake"
+
+inherit ros_${ROS_BUILD_TYPE}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-trace_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-trace_2.3.0-1.bb
new file mode 100644
index 00000000000..954a4e48da1
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools-trace_2.3.0-1.bb
@@ -0,0 +1,59 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "Tools for setting up tracing sessions."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/tracetools_trace/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "tracetools_trace"
+
+ROS_BUILD_DEPENDS = ""
+
+ROS_BUILDTOOL_DEPENDS = ""
+
+ROS_EXPORT_DEPENDS = ""
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    lttng-tools \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-copyright \
+    ament-flake8 \
+    ament-mypy \
+    ament-pep257 \
+    ament-xmllint \
+    python3-pytest \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/tracetools_trace/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/tracetools_trace"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "b42f86626813e2a05a363b91acc32d3ac2f12a42"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_python"
+
+inherit ros_${ROS_BUILD_TYPE}
diff --git a/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools_2.3.0-1.bb b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools_2.3.0-1.bb
new file mode 100644
index 00000000000..3723aa6c649
--- /dev/null
+++ b/meta-ros2-galactic/recipes-ros2/ros2-tracing/tracetools_2.3.0-1.bb
@@ -0,0 +1,57 @@
+# Generated by superflore -- DO NOT EDIT
+# Generated from manually modified cache.yaml, because superflore doesn't support fetching from gitlab.com (only from github.com)
+#
+# Copyright Open Source Robotics Foundation
+
+inherit ros_distro_rolling
+inherit ros_superflore_generated
+
+DESCRIPTION = "Tracing wrapper for ROS 2."
+AUTHOR = "Christophe Bedard <bedard.christophe@gmail.com>"
+ROS_AUTHOR = "Ingo Lütkebohle <ingo.luetkebohle@de.bosch.com>"
+HOMEPAGE = "https://index.ros.org/p/tracetools/"
+SECTION = "devel"
+# Original license in package.xml, joined with "&" when multiple license tags were used:
+#         "Apache 2.0"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = "ros2_tracing"
+ROS_BPN = "tracetools"
+
+ROS_BUILD_DEPENDS = ""
+
+ROS_BUILDTOOL_DEPENDS = " \
+    ament-cmake-ros-native \
+    pkgconfig-native \
+"
+
+ROS_EXPORT_DEPENDS = ""
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = ""
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-cmake-gtest \
+    ament-lint-auto \
+    ament-lint-common \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS_${PN} += "${ROS_EXEC_DEPENDS}"
+
+# matches with: https://gitlab.com/ros_tracing/ros2_tracing-release/archive/release/rolling/tracetools/2.3.0-1.tar.gz
+ROS_BRANCH ?= "branch=release/rolling/tracetools"
+SRC_URI = "git://gitlab.com/ros_tracing/ros2_tracing-release;${ROS_BRANCH};protocol=https"
+SRCREV = "a7143225f01de7708b86412c986610fb3e479c37"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_cmake"
+
+inherit ros_${ROS_BUILD_TYPE}