diff --git a/README.md b/README.md
index c5217990e..811174263 100755
--- a/README.md
+++ b/README.md
@@ -52,6 +52,7 @@ Community contributed boards are:
 | [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi)                     | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
 | [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
 | [Arduino Opta](https://store.arduino.cc/products/opta-wifi)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [LEGO Mindstorms EV3](https://www.lego.com/en-us/themes/mindstorms/ev3)     | -           | [@racarla96](https://github.com/racarla96)             | Debian Buster (ev3dev), [micro_ros_ev3]([https://github.com/racarla96/micro-ROS-for-LEGO-EV3](https://github.com/racarla96/micro_ros_ev3)) | `colcon.meta`            |
 
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
diff --git a/extras/library_generation/ev3_toolchain.cmake b/extras/library_generation/ev3_toolchain.cmake
new file mode 100644
index 000000000..fd5e49f62
--- /dev/null
+++ b/extras/library_generation/ev3_toolchain.cmake
@@ -0,0 +1,22 @@
+SET(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+SET(CMAKE_CXX_STANDARD 14 CACHE INTERNAL "")
+
+set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -march=armv5te -mtune=arm926ej-s -mfloat-abi=soft -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS}" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti" CACHE STRING "" FORCE)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+set(__BIG_ENDIAN__ 0)
diff --git a/extras/library_generation/library_generation.sh b/extras/library_generation/library_generation.sh
index e7447bf76..3c16f707b 100755
--- a/extras/library_generation/library_generation.sh
+++ b/extras/library_generation/library_generation.sh
@@ -22,6 +22,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("portenta-m7")
     PLATFORMS+=("kakutef7-m7")
     PLATFORMS+=("esp32")
+    PLATFORMS+=("ev3")
 fi
 
 shift $((OPTIND-1))
@@ -244,6 +245,20 @@ if [[ " ${PLATFORMS[@]} " =~ " esp32s3 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/esp32s3/libmicroros.a
 fi
 
+######## Build for EV3 (ev3dev Linux, ARMv5TE) ########
+if [[ " ${PLATFORMS[@]} " =~ " ev3 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/usr/bin/arm-linux-gnueabi-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/ev3_toolchain.cmake /project/extras/library_generation/colcon.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/ev3
+    cp -R firmware/build/libmicroros.a /project/src/ev3/libmicroros.a
+fi
+
 ######## Fix include paths  ########
 pushd firmware/mcu_ws > /dev/null
     INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')