feat(yocto): add support for RPi Zero 2 W

.gitmodules

@@ -61,6 +61,23 @@
 [submodule "project/yocto/rpi4b/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python"]
 	path = project/yocto/rpi4b/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python
 	url = https://github.com/extra2000/ros2_helloworld_python.git
+[submodule "project/yocto/rpizero2-w/layers/poky"]
+	path = project/yocto/rpizero2-w/layers/poky
+	url = https://github.com/yoctoproject/poky.git
+[submodule "project/yocto/rpizero2-w/layers/meta-openembedded"]
+	path = project/yocto/rpizero2-w/layers/meta-openembedded
+	url = https://github.com/openembedded/meta-openembedded.git
+[submodule "project/yocto/rpizero2-w/layers/meta-raspberrypi"]
+	path = project/yocto/rpizero2-w/layers/meta-raspberrypi
+	url = https://git.yoctoproject.org/meta-raspberrypi
+[submodule "project/yocto/rpizero2-w/layers/meta-ros"]
+	path = project/yocto/rpizero2-w/layers/meta-ros
+	url = https://github.com/ros/meta-ros.git
+[submodule "project/yocto/rpizero2-w/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp"]
+	path = project/yocto/rpizero2-w/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp
+	url = https://github.com/extra2000/ros2-helloworld-cpp.git
+[submodule "project/yocto/rpizero2-w/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python"]
+	path = project/yocto/rpizero2-w/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python
 [submodule "project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp"]
 	path = project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp
 	url = https://github.com/extra2000/ros2-helloworld-cpp.git

docs/yocto/rpizero2-w.md

@@ -0,0 +1,71 @@
+# Raspberry Pi Zero 2 W
+
+
+## Prerequisites
+
+* [extra2000/xilinx-toolkit v3.x image](https://github.com/extra2000/xilinx-toolkit)
+* SDCard with at least 4GB.
+* Digilent Analog Discovery 2 for accessing serial console through UART pins.
+
+
+## Building
+
+Allow source files to be mounted into container:
+```
+chcon -R -t container_file_t project
+```
+
+Create container:
+```
+podman run -it --rm \
+    --network=host \
+    --userns="keep-id:uid=1000,gid=1000" \
+    -v ${PWD}/project:${PWD}/project:rw \
+    --workdir ${PWD}/project/yocto/rpizero2-w \
+    --security-opt label=type:xilinx_toolkit_podman.process \
+    localhost/extra2000/xilinx-toolkit:latest \
+    bash
+source layers/poky/oe-init-build-env build
+```
+
+Check dependencies:
+```
+bitbake -p ros-core
+```
+
+Build:
+```
+bitbake ros-image-core
+```
+
+Flash to SD card:
+```
+bzcat project/yocto/rpizero2-w/build/tmp/deploy/images/raspberrypi0-2w-64/ros-image-core-humble-raspberrypi0-2w-64-*.rootfs.wic.bz2 | sudo dd bs=4M iflag=fullblock oflag=direct status=progress of=/dev/sdX; sudo sync
+```
+
+
+## Testing
+
+Insert SD card and power on Raspberry Pi Zero 2 W. Access serial console and login with `root` user. Then, follow [Testing](common/testing.md) instructions.
+
+
+## Cleaning Up
+
+To clean build:
+```
+rm -rf project/yocto/rpizero2-w/build/{sstate-cache,tmp}
+```
+
+
+## Known Issues
+
+When entering ROS2 environment using command:
+```
+source /etc/profile.d/ros/setup.bash
+```
+
+there will be errors such that:
+```
+Usage: head [OPTIONS] [FILE]...
+head: invalid option -- 'c'
+```

project/yocto/rpizero2-w/build/conf/bblayers.conf

@@ -0,0 +1,26 @@
+# POKY_BBLAYERS_CONF_VERSION is increased each time build/conf/bblayers.conf
+# changes incompatibly
+POKY_BBLAYERS_CONF_VERSION = "2"
+
+ROS_OE_RELEASE_SERIES = "honister"
+ROS_DISTRO = "humble"
+
+YOCTOROOT = "${@os.path.abspath(os.path.join("${TOPDIR}", os.pardir))}"
+
+BBPATH = "${TOPDIR}"
+BBFILES ?= ""
+
+BBLAYERS ?= " \
+  ${YOCTOROOT}/layers/poky/meta \
+  ${YOCTOROOT}/layers/poky/meta-poky \
+  ${YOCTOROOT}/layers/poky/meta-yocto-bsp \
+  ${YOCTOROOT}/layers/meta-openembedded/meta-oe \
+  ${YOCTOROOT}/layers/meta-openembedded/meta-multimedia \
+  ${YOCTOROOT}/layers/meta-openembedded/meta-networking \
+  ${YOCTOROOT}/layers/meta-openembedded/meta-python \
+  ${YOCTOROOT}/layers/meta-raspberrypi \
+  ${YOCTOROOT}/layers/meta-ros/meta-ros-common \
+  ${YOCTOROOT}/layers/meta-ros/meta-ros2 \
+  ${YOCTOROOT}/layers/meta-ros/meta-ros2-humble \
+  ${YOCTOROOT}/layers/meta-user \
+  "