How to build self-made ROS packages for Xavier?

I have finished the cross compile for ROS, which is mentioned in the following link.

Then I want to build my own ROS package for Xavier.
I am not sure how to set ROS path in the compile.
Should I use ROS for HOST PC or ROS Crosscompiled?
How to set such parameters in cmake file?
Is there any step by step instructions or examples ?

Hi Liang_Qi,

Should I use ROS for HOST PC or ROS Crosscompiled?
You can just source setup.bash in the cross compilation path on the host.

How to set such parameters in cmake file?
What specific parameters? Could you tell more?

Is there any step by step instructions or examples ?
You can refer to https://devtalk.nvidia.com/default/topic/1070193/cross-compile-target-file-including-ros-and-driveworks/ shared by other developer.

Thanks!