This ros2.repos file references the branches used by the referenced PRs and removes some repositories for now (see the history of the gist for the diff).

After cloning those (with submodules for FastRTPS: vcs import --recursive src < ros2.repos) a couple of changes are currently still necessary (mostly copied from ament/ament_cmake#114):

Remove Python generator from workspace
- rm -fr src/ros2/rosidl/rosidl_generator_py/
Comment out Python generator in CMake
- sed -e '/py/ s/^#*/#/' -i src/ros2/rosidl_typesupport/rosidl_default_generators/CMakeLists.txt
Remove the test_msgs package since it uses a Python specific path for installation
- rm -fr src/ros2/rcl_interfaces/test_msgs/

Optionally you can apply the following patch (but this is not strictly necessary):

Modify FastRTPS to build shared libraries
- sed -i -r '/\$\{ANDROID\_BUILD\_OPTIONS\}/a "-DBUILD\_SHARED\_LIBS=off"' src/eProsima/Fast-RTPS/cmake/dev/eprosima_libraries.cmake

With this setup I am able to build the workspace with static libraries (--cmake-args -DBUILD_SHARED_LIBS=0) up to rcl successfully. It currently fails with linker errors for rclcpp. I will look into those next but expect that similar patch than the already referenced should fix the problem.

Support for static linking #468

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