diff --git a/meta-ros-common/classes/ros_cmake.bbclass b/meta-ros-common/classes/ros_cmake.bbclass
index 75e53c5304c..fd4a0d00600 100644
--- a/meta-ros-common/classes/ros_cmake.bbclass
+++ b/meta-ros-common/classes/ros_cmake.bbclass
@@ -3,7 +3,7 @@
 
 inherit cmake
 
-EXTRA_OECMAKE:prepend = "\
+EXTRA_OECMAKE:prepend:class-target = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DCMAKE_MODULE_PATH='${STAGING_DIR_HOST}${ros_datadir}/cmake/Modules/' \
@@ -13,3 +13,8 @@ EXTRA_OECMAKE:prepend:class-native = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
+
+EXTRA_OECMAKE:prepend:class-nativesdk = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"
diff --git a/meta-ros-common/classes/ros_opt_prefix.bbclass b/meta-ros-common/classes/ros_opt_prefix.bbclass
index 58c05e58d2b..05bf739088c 100644
--- a/meta-ros-common/classes/ros_opt_prefix.bbclass
+++ b/meta-ros-common/classes/ros_opt_prefix.bbclass
@@ -4,7 +4,8 @@
 # Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 #
 
-ros_prefix ?= "${base_prefix}/opt/ros/${ROS_DISTRO}"
+ros_base_prefix ?= "/opt/ros/${ROS_DISTRO}"
+ros_prefix = "${base_prefix}${ros_base_prefix}"
 
 ros_bindir = "${ros_prefix}/bin"
 ros_sbindir = "${ros_prefix}/sbin"
diff --git a/meta-ros-common/recipes-core/images/ros2-image-sdktest.bb b/meta-ros-common/recipes-core/images/ros2-image-sdktest.bb
new file mode 100644
index 00000000000..84199acf405
--- /dev/null
+++ b/meta-ros-common/recipes-core/images/ros2-image-sdktest.bb
@@ -0,0 +1,33 @@
+SUMMARY = "ROS2 SDK Image"
+DESCRIPTION = "${SUMMARY}"
+
+inherit core-image
+inherit ros_distro_${ROS_DISTRO}
+inherit ${ROS_DISTRO_TYPE}_image
+
+IMAGE_INSTALL:append = " \
+    packagegroup-core-boot \
+    ${CORE_IMAGE_EXTRA_INSTALL} \
+"
+
+TOOLCHAIN_TARGET_TASK:append = " \
+    opencv-staticdev \
+    python3-numpy-staticdev \
+    libeigen \
+    eigen3-cmake-module \
+    boost \
+    libstdc++-staticdev \
+    pcl-dev \
+    python3-pykdl \
+    bullet \
+    qhull-staticdev \
+    orocos-kdl \
+    yaml-cpp-vendor \
+    pybind11-vendor \
+    rttest \
+    tlsf-staticdev \
+    tlsf-cpp \
+    python-cmake-module \
+    python3-opencv \
+    tinyxml-vendor \
+"
diff --git a/meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0003-Force-shebang-to-usr-bin-env-python3.patch b/meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0003-Force-shebang-to-usr-bin-env-python3.patch
new file mode 100644
index 00000000000..74d61643d9c
--- /dev/null
+++ b/meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0003-Force-shebang-to-usr-bin-env-python3.patch
@@ -0,0 +1,13 @@
+diff --git a/colcon_core/task/python/build.py b/colcon_core/task/python/build.py
+index 7181d20..eb82058 100644
+--- a/colcon_core/task/python/build.py
++++ b/colcon_core/task/python/build.py
+@@ -73,7 +73,7 @@ class PythonBuildTask(TaskExtensionPoint):
+                     os.path.realpath(args.build_base),
+                     os.path.realpath(args.path)),
+                 'build', '--build-base', os.path.join(
+-                    args.build_base, 'build'),
++                    args.build_base, 'build'), '--executable', '/usr/bin/env python3',
+                 'install', '--prefix', args.install_base,
+                 '--record', os.path.join(args.build_base, 'install.log'),
+                 # prevent installation of dependencies specified in setup.py
diff --git a/meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb b/meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb
index c0826580c3c..f8c72cf3837 100644
--- a/meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb
+++ b/meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb
@@ -6,6 +6,7 @@ LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd5
 
 SRC_URI += "file://0001-Remove-optional-pytest-dependencies.patch \
            file://0002-Fix-regression-when-enitre-workspace-is-symlinked.patch \
+           file://0003-Force-shebang-to-usr-bin-env-python3.patch \
            "
 SRC_URI[sha256sum] = "fc14534b2ce745fcc332afc0bb0ddf3e45d5d69c15da15b9471cfb7b0b9edbe9"
 
diff --git a/meta-ros-common/recipes-devtools/python/python3-coloredlogs_%.bbappend b/meta-ros-common/recipes-devtools/python/python3-coloredlogs_%.bbappend
new file mode 100644
index 00000000000..2a590838b56
--- /dev/null
+++ b/meta-ros-common/recipes-devtools/python/python3-coloredlogs_%.bbappend
@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"
diff --git a/meta-ros-common/recipes-devtools/python/python3-dateutil_%.bbappend b/meta-ros-common/recipes-devtools/python/python3-dateutil_%.bbappend
new file mode 100644
index 00000000000..2a590838b56
--- /dev/null
+++ b/meta-ros-common/recipes-devtools/python/python3-dateutil_%.bbappend
@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"
diff --git a/meta-ros-common/recipes-devtools/python/python3-docutils_%.bbappend b/meta-ros-common/recipes-devtools/python/python3-docutils_%.bbappend
new file mode 100644
index 00000000000..2a590838b56
--- /dev/null
+++ b/meta-ros-common/recipes-devtools/python/python3-docutils_%.bbappend
@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"
diff --git a/meta-ros-common/recipes-devtools/python/python3-humanfriendly_%.bbappend b/meta-ros-common/recipes-devtools/python/python3-humanfriendly_%.bbappend
new file mode 100644
index 00000000000..2a590838b56
--- /dev/null
+++ b/meta-ros-common/recipes-devtools/python/python3-humanfriendly_%.bbappend
@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"
diff --git a/meta-ros-common/recipes-devtools/python/python3-lark-parser_0.7.0.bb b/meta-ros-common/recipes-devtools/python/python3-lark-parser_0.7.0.bb
index 14989f873bb..b1c5e4aa56d 100644
--- a/meta-ros-common/recipes-devtools/python/python3-lark-parser_0.7.0.bb
+++ b/meta-ros-common/recipes-devtools/python/python3-lark-parser_0.7.0.bb
@@ -5,3 +5,5 @@
 require python-lark-parser.inc
 
 inherit setuptools3
+
+BBCLASSEXTEND = "native nativesdk"
diff --git a/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.12.1.patch b/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.12.1.patch
new file mode 100644
index 00000000000..cba4f9a1bf9
--- /dev/null
+++ b/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.12.1.patch
@@ -0,0 +1,55 @@
+From 4dc28976e88af60e273e670f824cf9b30281e86d Mon Sep 17 00:00:00 2001
+From: Stephen Street <stephen@redrocketcomputing.com>
+Date: Tue, 5 Nov 2024 09:04:23 -0800
+Subject: [PATCH] Do not leak build directory paths in sdk
+
+Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
+---
+ PCLConfig.cmake.in | 9 +++++----
+ 1 file changed, 5 insertions(+), 4 deletions(-)
+
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index 1e923a3e9..4a8a3a35e 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -23,6 +23,7 @@ if(POLICY CMP0074)
+   # NEW behavior, we need to push a policy stack.
+   cmake_policy(SET CMP0074 NEW)
+ endif()
++cmake_policy(SET CMP0144 NEW)
+ 
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
+ 
+@@ -91,9 +92,9 @@ macro(find_boost)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+   elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
++    set(BOOST_INCLUDEDIR "/usr/include")
+   endif()
+-  
++
+   set(Boost_ADDITIONAL_VERSIONS
+     "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
+     "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80"
+@@ -117,7 +118,7 @@ macro(find_eigen)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
+   elseif(NOT EIGEN_ROOT)
+-    get_filename_component(EIGEN_ROOT "@EIGEN_INCLUDE_DIRS@" ABSOLUTE)
++    get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)
+   endif()
+   find_package(Eigen 3.1)
+ endmacro()
+@@ -225,7 +226,7 @@ macro(find_flann)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+   elseif(NOT FLANN_ROOT)
+-    set(FLANN_ROOT "@FLANN_ROOT@")
++    set(FLANN_ROOT "/usr")
+   endif()
+ 
+   set(PCL_FLANN_REQUIRED_TYPE @PCL_FLANN_REQUIRED_TYPE@)
+-- 
+2.43.0
+
diff --git a/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.13.0.patch b/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.13.0.patch
new file mode 100644
index 00000000000..0bfc2bec9b5
--- /dev/null
+++ b/meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.13.0.patch
@@ -0,0 +1,55 @@
+From 15cfff0eb7fb7ca58550f6259f0935ca7710a6b4 Mon Sep 17 00:00:00 2001
+From: Stephen Street <stephen@redrocketcomputing.com>
+Date: Tue, 5 Nov 2024 08:47:17 -0800
+Subject: [PATCH] Do not leak build directory paths in sdk
+
+Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
+---
+ PCLConfig.cmake.in | 9 +++++----
+ 1 file changed, 5 insertions(+), 4 deletions(-)
+
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index b6322c623..b7e290c23 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -23,6 +23,7 @@ if(POLICY CMP0074)
+   # NEW behavior, we need to push a policy stack.
+   cmake_policy(SET CMP0074 NEW)
+ endif()
++cmake_policy(SET CMP0144 NEW)
+ 
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
+ 
+@@ -91,9 +92,9 @@ macro(find_boost)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+   elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
++    set(BOOST_INCLUDEDIR "/usr/include")
+   endif()
+-  
++
+   set(Boost_ADDITIONAL_VERSIONS
+     "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
+     "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80"
+@@ -117,7 +118,7 @@ macro(find_eigen)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
+   elseif(NOT EIGEN_ROOT)
+-    get_filename_component(EIGEN_ROOT "@EIGEN_INCLUDE_DIRS@" ABSOLUTE)
++    get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)
+   endif()
+   find_package(Eigen 3.3)
+ endmacro()
+@@ -225,7 +226,7 @@ macro(find_flann)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+   elseif(NOT FLANN_ROOT)
+-    set(FLANN_ROOT "@FLANN_ROOT@")
++    set(FLANN_ROOT "/usr")
+   endif()
+ 
+   set(PCL_FLANN_REQUIRED_TYPE @PCL_FLANN_REQUIRED_TYPE@)
+-- 
+2.43.0
+
diff --git a/meta-ros-common/recipes-extended/pcl/pcl_1.12.1.bb b/meta-ros-common/recipes-extended/pcl/pcl_1.12.1.bb
index 13f027361d9..dae52af57f8 100644
--- a/meta-ros-common/recipes-extended/pcl/pcl_1.12.1.bb
+++ b/meta-ros-common/recipes-extended/pcl/pcl_1.12.1.bb
@@ -4,6 +4,7 @@
 require pcl.inc
 
 SRC_URI += "file://0001-Make-PCL-compatible-with-Boost-1.84-1.12.1.patch"
+SRC_URI += "file://0002-Do-not-leak-build-directory-paths-1.12.1.patch"
 
 PV = "1.12.1+git${SRCPV}"
 SRCREV = "e8ed4be802f7d0b1acff2f8b01d7c5f381190e05"
diff --git a/meta-ros-common/recipes-extended/pcl/pcl_1.13.0.bb b/meta-ros-common/recipes-extended/pcl/pcl_1.13.0.bb
index 56e0d989e07..1170824d461 100644
--- a/meta-ros-common/recipes-extended/pcl/pcl_1.13.0.bb
+++ b/meta-ros-common/recipes-extended/pcl/pcl_1.13.0.bb
@@ -4,6 +4,7 @@
 require pcl.inc
 
 SRC_URI += "file://0001-Make-PCL-compatible-with-Boost-1.84-1.13.0.patch"
+SRC_URI += "file://0002-Do-not-leak-build-directory-paths-1.13.0.patch"
 
 PV = "1.13.0+git${SRCPV}"
 SRCREV = "371a8e1373f7b2f66bbb92291be2f3e50dc19856"
diff --git a/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg/0002-package-py-remove-newline-in-description-warning.patch b/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg/0002-package-py-remove-newline-in-description-warning.patch
new file mode 100644
index 00000000000..3c46f73c9d0
--- /dev/null
+++ b/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg/0002-package-py-remove-newline-in-description-warning.patch
@@ -0,0 +1,14 @@
+diff --git a/src/catkin_pkg/package.py b/src/catkin_pkg/package.py
+index da2b1b8..e2c8f2d 100644
+--- a/src/catkin_pkg/package.py
++++ b/src/catkin_pkg/package.py
+@@ -253,9 +253,6 @@ class Package(object):
+ 
+         if not self.description:
+             errors.append('Package description must not be empty')
+-        else:
+-            if '\n' in self.description:
+-                new_warnings.append('Package "%s" has newlines in the description')
+ 
+         if not self.maintainers:
+             errors.append("Package '{0}' must declare at least one maintainer".format(self.name))
diff --git a/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg_0.4.24.bb b/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg_0.4.24.bb
index 3cf6595f42d..76ced47c858 100644
--- a/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg_0.4.24.bb
+++ b/meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg_0.4.24.bb
@@ -1,5 +1,6 @@
 require python-catkin-pkg.inc
 
 SRC_URI += "file://0001-python_setup.py-fix-build-with-setuptools-v59.0.0-an.patch"
+SRC_URI += "file://0002-package-py-remove-newline-in-description-warning.patch"
 
 inherit setuptools3
diff --git a/meta-ros-common/recipes-support/asio/asio_%.bbappend b/meta-ros-common/recipes-support/asio/asio_%.bbappend
index 13661a581e9..821ee7e7596 100644
--- a/meta-ros-common/recipes-support/asio/asio_%.bbappend
+++ b/meta-ros-common/recipes-support/asio/asio_%.bbappend
@@ -1,3 +1,3 @@
 # Copyright (c) 2019-2020 LG Electronics, Inc.
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/meta-ros-common/recipes-support/libtinyxml2/libtinyxml2_%.bbappend b/meta-ros-common/recipes-support/libtinyxml2/libtinyxml2_%.bbappend
new file mode 100644
index 00000000000..2a590838b56
--- /dev/null
+++ b/meta-ros-common/recipes-support/libtinyxml2/libtinyxml2_%.bbappend
@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"
diff --git a/meta-ros2-humble/conf/layer.conf b/meta-ros2-humble/conf/layer.conf
index 7b9b8e60b16..f353a4622db 100644
--- a/meta-ros2-humble/conf/layer.conf
+++ b/meta-ros2-humble/conf/layer.conf
@@ -24,3 +24,4 @@ LAYERDEPENDS_ros2-humble-layer = " \
 LAYERSERIES_COMPAT_ros2-humble-layer = "scarthgap"
 
 require conf/ros-distro/include/humble/ros-distro.inc
+require conf/ros-distro/include/humble/ros-sdk.inc
diff --git a/meta-ros2-humble/conf/ros-distro/include/humble/ros-sdk.inc b/meta-ros2-humble/conf/ros-distro/include/humble/ros-sdk.inc
new file mode 100644
index 00000000000..14984b47d41
--- /dev/null
+++ b/meta-ros2-humble/conf/ros-distro/include/humble/ros-sdk.inc
@@ -0,0 +1,62 @@
+TOOLCHAIN_HOST_TASK:append = " \
+    nativesdk-ament-package \
+    nativesdk-python3-colcon-common-extensions \
+    nativesdk-python3-numpy \
+    nativesdk-rosidl-adapter \
+    nativesdk-rosidl-cli \
+    nativesdk-rosidl-cmake \
+    nativesdk-rosidl-default-generators \
+    nativesdk-rosidl-generator-c \
+    nativesdk-rosidl-generator-cpp \
+    nativesdk-rosidl-parser \
+    nativesdk-rosidl-typesupport-c \
+    nativesdk-rosidl-typesupport-cpp \
+    nativesdk-rosidl-typesupport-fastrtps-c \
+    nativesdk-rosidl-typesupport-fastrtps-cpp \
+    nativesdk-rosidl-typesupport-introspection-c \
+    nativesdk-rosidl-typesupport-introspection-cpp \
+    nativesdk-ros-sdk-env \
+"
+
+TOOLCHAIN_TARGET_TASK:append = " \
+    ament-cmake-python \
+    ament-cmake-ros \
+    ament-package \
+    ament-lint \
+    ament-cmake \
+    ament-cmake-auto \
+    ament-cmake-core \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gen-version-h \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake-pytest \
+    ament-cmake-python \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-vendor-package \
+    ament-cmake-version \
+    foonathan-memory-staticdev \
+    \
+    rclcpp \
+    rclcpp-lifecycle \
+    rclcpp-action \
+    rclcpp-components \
+    builtin-interfaces \
+    common-interfaces \
+    fastrtps-cmake-module \
+    rosidl-default-generators \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-cmake \
+    ros-workspace \
+    pluginlib \
+"
diff --git a/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch b/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
new file mode 100644
index 00000000000..dc9126a64d4
--- /dev/null
+++ b/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
@@ -0,0 +1,16 @@
+diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
+index 44b8e645..ba964578 100644
+--- a/cmake/modules/FindTinyXML2.cmake
++++ b/cmake/modules/FindTinyXML2.cmake
+@@ -39,7 +39,10 @@ else()
+     if(TINYXML2_FROM_SOURCE)
+         find_path(TINYXML2_SOURCE_DIR NAMES tinyxml2.cpp NO_CMAKE_FIND_ROOT_PATH)
+     else()
+-        find_library(TINYXML2_LIBRARY tinyxml2)
++        find_library(TINYXML2_LIBRARIES tinyxml2)
++        add_library(tinyxml2 SHARED IMPORTED)
++        set_property(TARGET tinyxml2 APPEND PROPERTY IMPORTED_LOCATION "${TINYXML2_LIBRARIES}")
++        set(TINYXML2_LIBRARY tinyxml2)
+     endif()
+
+     include(FindPackageHandleStandardArgs)
diff --git a/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps_%.bbappend b/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps_%.bbappend
index 2e8afcb9691..288d2e1c346 100644
--- a/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps_%.bbappend
+++ b/meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps_%.bbappend
@@ -1,8 +1,11 @@
 # Copyright (c) 2019-2021 LG Electronics, Inc.
+# Copyright (c) 2023 Wind River Systems, Inc.
 
 inherit ros_insane_dev_so
 
 FILES:${PN} += "${prefix}/tools"
+# ERROR: fastrtps-2.10.2-1-r0 do_package: QA Issue: fastrtps: Files/directories were installed but not shipped in any package:
+FILES:${PN} += "${datadir}/fastRTPS_profiles.xsd ${datadir}/fastdds_static_discovery.xsd"
 
 # CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the
 # following cache variables appropriately:
@@ -19,3 +22,6 @@ EXTRA_OECMAKE += " -DSM_RUN_RESULT=0 -DSM_RUN_RESULT__TRYRUN_OUTPUT=PTHREAD_RWLO
 sysroot_stage_all:append() {
     sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
 }
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+SRC_URI += "file://0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch"
diff --git a/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-find-package-yaml.patch b/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-find-package-yaml.patch
new file mode 100644
index 00000000000..db57bd890ef
--- /dev/null
+++ b/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-find-package-yaml.patch
@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 96ef1b3e..b7487bf6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,6 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
+ find_package(rcutils REQUIRED)
+ find_package(rmw REQUIRED)
+ find_package(libyaml_vendor REQUIRED)
++find_package(yaml)
+ 
+ # Default to C++14
+ if(NOT CMAKE_CXX_STANDARD)
diff --git a/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch b/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch
deleted file mode 100644
index df173150d87..00000000000
--- a/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch
+++ /dev/null
@@ -1,64 +0,0 @@
-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-humble/recipes-bbappends/rcl/rcl-yaml-param-parser_5.3.9-1.bbappend b/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser_5.3.9-1.bbappend
index 93e9e23ba1c..a5fc022473b 100644
--- a/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser_5.3.9-1.bbappend
+++ b/meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser_5.3.9-1.bbappend
@@ -1,8 +1,6 @@
 # Copyright (c) 2020-2021 LG Electronics, Inc.
 
-inherit pkgconfig
-
 DEPENDS += "libyaml"
 
 FILESEXTRAPATHS:prepend := "${THISDIR}/${BPN}:"
-SRC_URI += "file://0001-CMakeLists.txt-use-pkg-config-to-find-yaml.patch"
+SRC_URI += "file://0001-CMakeLists.txt-use-find-package-yaml.patch"
diff --git a/meta-ros2-jazzy/conf/layer.conf b/meta-ros2-jazzy/conf/layer.conf
index 37f2d6ee500..271da5fa65b 100644
--- a/meta-ros2-jazzy/conf/layer.conf
+++ b/meta-ros2-jazzy/conf/layer.conf
@@ -24,3 +24,4 @@ LAYERDEPENDS_ros2-jazzy-layer = " \
 LAYERSERIES_COMPAT_ros2-jazzy-layer = "scarthgap"
 
 require conf/ros-distro/include/jazzy/ros-distro.inc
+require conf/ros-distro/include/jazzy/ros-sdk.inc
diff --git a/meta-ros2-jazzy/conf/ros-distro/include/jazzy/ros-sdk.inc b/meta-ros2-jazzy/conf/ros-distro/include/jazzy/ros-sdk.inc
new file mode 100644
index 00000000000..c358ca904df
--- /dev/null
+++ b/meta-ros2-jazzy/conf/ros-distro/include/jazzy/ros-sdk.inc
@@ -0,0 +1,61 @@
+TOOLCHAIN_HOST_TASK:append = " \
+    nativesdk-ament-package \
+    nativesdk-python3-colcon-common-extensions \
+    nativesdk-python3-numpy \
+    nativesdk-rosidl-adapter \
+    nativesdk-rosidl-cli \
+    nativesdk-rosidl-cmake \
+    nativesdk-rosidl-default-generators \
+    nativesdk-rosidl-generator-c \
+    nativesdk-rosidl-generator-cpp \
+    nativesdk-rosidl-parser \
+    nativesdk-rosidl-typesupport-c \
+    nativesdk-rosidl-typesupport-cpp \
+    nativesdk-rosidl-typesupport-fastrtps-c \
+    nativesdk-rosidl-typesupport-fastrtps-cpp \
+    nativesdk-rosidl-typesupport-introspection-c \
+    nativesdk-rosidl-typesupport-introspection-cpp \
+    nativesdk-ros-sdk-env \
+"
+
+TOOLCHAIN_TARGET_TASK = " \
+    ament-cmake-python \
+    ament-cmake-ros \
+    ament-package \
+    ament-lint \
+    ament-cmake \
+    ament-cmake-auto \
+    ament-cmake-core \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gen-version-h \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake-pytest \
+    ament-cmake-python \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-vendor-package \
+    ament-cmake-version \
+    foonathan-memory-staticdev \
+    \
+    rclcpp \
+    rclcpp-lifecycle \
+    rclcpp-action \
+    rclcpp-components \
+    builtin-interfaces \
+    common-interfaces \
+    fastrtps-cmake-module \
+    rosidl-default-generators \
+    rosidl-core-generators \
+    rosidl-cmake \
+    ros-workspace \
+    pluginlib \
+"
diff --git a/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch b/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
new file mode 100644
index 00000000000..dc9126a64d4
--- /dev/null
+++ b/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
@@ -0,0 +1,16 @@
+diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
+index 44b8e645..ba964578 100644
+--- a/cmake/modules/FindTinyXML2.cmake
++++ b/cmake/modules/FindTinyXML2.cmake
+@@ -39,7 +39,10 @@ else()
+     if(TINYXML2_FROM_SOURCE)
+         find_path(TINYXML2_SOURCE_DIR NAMES tinyxml2.cpp NO_CMAKE_FIND_ROOT_PATH)
+     else()
+-        find_library(TINYXML2_LIBRARY tinyxml2)
++        find_library(TINYXML2_LIBRARIES tinyxml2)
++        add_library(tinyxml2 SHARED IMPORTED)
++        set_property(TARGET tinyxml2 APPEND PROPERTY IMPORTED_LOCATION "${TINYXML2_LIBRARIES}")
++        set(TINYXML2_LIBRARY tinyxml2)
+     endif()
+
+     include(FindPackageHandleStandardArgs)
diff --git a/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps_%.bbappend b/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps_%.bbappend
index e9ebdc0a717..288d2e1c346 100644
--- a/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps_%.bbappend
+++ b/meta-ros2-jazzy/recipes-bbappends/fastrtps/fastrtps_%.bbappend
@@ -22,3 +22,6 @@ EXTRA_OECMAKE += " -DSM_RUN_RESULT=0 -DSM_RUN_RESULT__TRYRUN_OUTPUT=PTHREAD_RWLO
 sysroot_stage_all:append() {
     sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
 }
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+SRC_URI += "file://0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch"
diff --git a/meta-ros2-rolling/conf/layer.conf b/meta-ros2-rolling/conf/layer.conf
index d19c079c9e0..d80a56426df 100644
--- a/meta-ros2-rolling/conf/layer.conf
+++ b/meta-ros2-rolling/conf/layer.conf
@@ -24,3 +24,4 @@ LAYERDEPENDS_ros2-rolling-layer = " \
 LAYERSERIES_COMPAT_ros2-rolling-layer = "scarthgap"
 
 require conf/ros-distro/include/rolling/ros-distro.inc
+require conf/ros-distro/include/rolling/ros-sdk.inc
diff --git a/meta-ros2-rolling/conf/ros-distro/include/rolling/ros-sdk.inc b/meta-ros2-rolling/conf/ros-distro/include/rolling/ros-sdk.inc
new file mode 100644
index 00000000000..c358ca904df
--- /dev/null
+++ b/meta-ros2-rolling/conf/ros-distro/include/rolling/ros-sdk.inc
@@ -0,0 +1,61 @@
+TOOLCHAIN_HOST_TASK:append = " \
+    nativesdk-ament-package \
+    nativesdk-python3-colcon-common-extensions \
+    nativesdk-python3-numpy \
+    nativesdk-rosidl-adapter \
+    nativesdk-rosidl-cli \
+    nativesdk-rosidl-cmake \
+    nativesdk-rosidl-default-generators \
+    nativesdk-rosidl-generator-c \
+    nativesdk-rosidl-generator-cpp \
+    nativesdk-rosidl-parser \
+    nativesdk-rosidl-typesupport-c \
+    nativesdk-rosidl-typesupport-cpp \
+    nativesdk-rosidl-typesupport-fastrtps-c \
+    nativesdk-rosidl-typesupport-fastrtps-cpp \
+    nativesdk-rosidl-typesupport-introspection-c \
+    nativesdk-rosidl-typesupport-introspection-cpp \
+    nativesdk-ros-sdk-env \
+"
+
+TOOLCHAIN_TARGET_TASK = " \
+    ament-cmake-python \
+    ament-cmake-ros \
+    ament-package \
+    ament-lint \
+    ament-cmake \
+    ament-cmake-auto \
+    ament-cmake-core \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gen-version-h \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake-pytest \
+    ament-cmake-python \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-vendor-package \
+    ament-cmake-version \
+    foonathan-memory-staticdev \
+    \
+    rclcpp \
+    rclcpp-lifecycle \
+    rclcpp-action \
+    rclcpp-components \
+    builtin-interfaces \
+    common-interfaces \
+    fastrtps-cmake-module \
+    rosidl-default-generators \
+    rosidl-core-generators \
+    rosidl-cmake \
+    ros-workspace \
+    pluginlib \
+"
diff --git a/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch b/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
new file mode 100644
index 00000000000..dc9126a64d4
--- /dev/null
+++ b/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch
@@ -0,0 +1,16 @@
+diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
+index 44b8e645..ba964578 100644
+--- a/cmake/modules/FindTinyXML2.cmake
++++ b/cmake/modules/FindTinyXML2.cmake
+@@ -39,7 +39,10 @@ else()
+     if(TINYXML2_FROM_SOURCE)
+         find_path(TINYXML2_SOURCE_DIR NAMES tinyxml2.cpp NO_CMAKE_FIND_ROOT_PATH)
+     else()
+-        find_library(TINYXML2_LIBRARY tinyxml2)
++        find_library(TINYXML2_LIBRARIES tinyxml2)
++        add_library(tinyxml2 SHARED IMPORTED)
++        set_property(TARGET tinyxml2 APPEND PROPERTY IMPORTED_LOCATION "${TINYXML2_LIBRARIES}")
++        set(TINYXML2_LIBRARY tinyxml2)
+     endif()
+
+     include(FindPackageHandleStandardArgs)
diff --git a/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps_%.bbappend b/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps_%.bbappend
index e9ebdc0a717..288d2e1c346 100644
--- a/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps_%.bbappend
+++ b/meta-ros2-rolling/recipes-bbappends/fastrtps/fastrtps_%.bbappend
@@ -22,3 +22,6 @@ EXTRA_OECMAKE += " -DSM_RUN_RESULT=0 -DSM_RUN_RESULT__TRYRUN_OUTPUT=PTHREAD_RWLO
 sysroot_stage_all:append() {
     sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
 }
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+SRC_URI += "file://0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch"
diff --git a/meta-ros2/classes/ros_ament_cmake.bbclass b/meta-ros2/classes/ros_ament_cmake.bbclass
index 49249dea79b..3f0c4260e3d 100644
--- a/meta-ros2/classes/ros_ament_cmake.bbclass
+++ b/meta-ros2/classes/ros_ament_cmake.bbclass
@@ -25,11 +25,13 @@ export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${pr
 
 inherit cmake python3native
 
+PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}${ros_base_prefix}/lib/python${PYTHON_BASEVERSION}/site-packages:"
+
 FILES:${PN}:prepend = " \
     ${datadir}/ament_index \
 "
 
-EXTRA_OECMAKE:prepend = "\
+EXTRA_OECMAKE:prepend:class-target = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
@@ -38,3 +40,8 @@ EXTRA_OECMAKE:prepend:class-native = "\
     -DCMAKE_PREFIX_PATH='${ros_prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
+
+EXTRA_OECMAKE:prepend:class-nativesdk = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_base_prefix};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"
diff --git a/meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb b/meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb
new file mode 100644
index 00000000000..f1961c1717f
--- /dev/null
+++ b/meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb
@@ -0,0 +1,45 @@
+# Copyright (c) Stephen Street stephen@redrocketcomputing.com
+
+SUMMARY = "Add ROS2 SDK enviroment variable"
+HOMEPAGE = "https://github.com/meta-ros"
+SECTION = "devel"
+
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://${COREBASE}/meta/files/common-licenses/Apache-2.0;md5=89aea4e17d99a7cacdbeed46a0096b10"
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/ros-sdk-env:"
+
+inherit python3native ros_opt_prefix
+
+FILES:${PN} = "${base_prefix}/environment-setup.d/ros-sdk-env.sh"
+
+S = "${WORKDIR}"
+
+# This was pulled from meta-ros/meta-ros2/classes/ros_ament_cmake.bbclass
+PYTHON_SOABI_ARCH = "${TUNE_ARCH}-${TARGET_OS}"
+PYTHON_SOABI_ARCH_SUFFIX = "-gnu"
+
+# The suffix is already included in TARGET_OS
+PYTHON_SOABI_ARCH_SUFFIX:arm = ""
+
+# Another exception is i686 TUNE_ARCH in dunfell and newer with this change:
+# https://git.openembedded.org/openembedded-core/commit/?h=dunfell&id=6beab388e73b3ac6157650855a6c1fb1d71e8015
+PYTHON_SOABI_ARCH:i686 = "i386-${TARGET_OS}"
+
+PYTHON_SOABI = "cpython-${@d.getVar('PYTHON_BASEVERSION').replace('.', '')}${PYTHON_ABI}-${PYTHON_SOABI_ARCH}${PYTHON_SOABI_ARCH_SUFFIX}"
+
+do_install () {
+    echo "export ROS_VERSION=${ROS_VERSION}" > ${S}/ros-sdk-env.sh
+    echo "export ROS_PYTHON_VERSION=${ROS_PYTHON_VERSION}" >> ${S}/ros-sdk-env.sh
+    echo "export ROS_DISTRO=${ROS_DISTRO}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHONPATH="'$OECORE_NATIVE_SYSROOT'"/usr/lib/python${PYTHON_BASEVERSION}/site-packages:"'$OECORE_TARGET_SYSROOT'"${ros_base_prefix}/lib/python${PYTHON_BASEVERSION}/site-packages"  >> ${S}/ros-sdk-env.sh
+    echo "export AMENT_PREFIX_PATH="'$OECORE_TARGET_SYSROOT'"${ros_base_prefix}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHON_SOABI=${PYTHON_SOABI}.so" >> ${S}/ros-sdk-env.sh
+    echo "export CMAKE_PYTHON_SOABI=${PYTHON_SOABI}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHON3_NUMPY_INCLUDE_DIR="'$OECORE_TARGET_SYSROOT'"/usr/lib/python${PYTHON_BASEVERSION}/site-packages/numpy/core/include" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHONWARNINGS=ignore"  >> ${S}/ros-sdk-env.sh
+    mkdir -p ${D}${base_prefix}/environment-setup.d
+    install -m 644 ${S}/ros-sdk-env.sh ${D}${base_prefix}/environment-setup.d
+}
+
+BBCLASSEXTEND = "native nativesdk"