ROS on Yocto

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This is the answer. bmwcarit/meta-ros is very active and has a good size community.

I don't understand how the OP could not have found this while searching for "ROS Yocto".

Most of the references in that project either don't list a ROS version, or refer to "Hydro". It wasn't clear to me at a glance that they also support other ROS version (I suspect they're on a rolling release, but I don't know enough about yocto packages to confirm).

Thanks for the links. Are there differences between ROS on Ubuntu or Yocto?

Can you share instructions how to setup this meta-ros because instructions are not clear. I mean how to properly add this to bblayer.config and check if it's properly configured. Thanks in advance