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There is a ros-embedded SIG, which might be a good point to start. Additionally, the ros-c effort intends to bring a full (enough) ROS implementation to both Linux-based and bare-metal embedded systems.
Regarding your comment on 'unsupported hardware': as long as you are able to use any of the existing client libraries (or port them), getting something to work shouldn't be too involved.
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There is a ros-embedded SIG, which might be a good point to start. Additionally, the ros-c effort intends to bring a full (enough) ROS implementation to both Linux-based and bare-metal embedded systems.systems. Another client library focused on embedded use is µROSnode.
Regarding your comment on 'unsupported hardware': as long as you are able to use any of the existing client libraries (or port them), getting something to work shouldn't be too involved.
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