diff --git a/.oebuild/features/oebridge-ros.yaml b/.oebuild/features/oebridge-ros.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3bd08e967b66910ad56fa1ad86c61a6932535266
--- /dev/null
+++ b/.oebuild/features/oebridge-ros.yaml
@@ -0,0 +1,7 @@
+type: feature
+
+local_conf: |
+  DISTRO_FEATURES:append = " oebridge oe-ros"
+  SERVER_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/openeuler"
+  SERVER_VERSION = "openEuler-24.03-LTS"
+  GLIBC_GENERATE_LOCALES:append = "en_US.UTF-8 zh_CN.UTF-8 "
diff --git a/meta-openeuler/classes/image-oebridge.bbclass b/meta-openeuler/classes/image-oebridge.bbclass
index a54ad3711adba5d45c04729fa149ac7c67c2a8e6..2368ee6a72ede4ac4cdae44d3a34aab74b93f073 100644
--- a/meta-openeuler/classes/image-oebridge.bbclass
+++ b/meta-openeuler/classes/image-oebridge.bbclass
@@ -192,6 +192,17 @@ fakeroot python do_dnf_install_pkgs(){
             cwd=repo_dir)
     else:
         bb.error("openEuler.repo not found")
+    
+    ros_repo_path = f"{d.getVar('THISDIR')}/../../recipes-devtools/dnf/files/openEulerROS.repo"
+    if os.path.exists(ros_repo_path):
+        subprocess.run(f"cp {ros_repo_path} {repo_dir}",
+            shell=True,
+            cwd=repo_dir)
+        subprocess.run(f"sed -i 's/OPENEULER_VER/{d.getVar('SERVER_VERSION')}/g' openEulerROS.repo",
+            shell=True,
+            cwd=repo_dir)
+    else:
+        bb.error("openEuler.repo not found")
 
     # do some prepare action
     if len(real_list) > 0:
diff --git a/meta-openeuler/recipes-core/packagegroups/packagegroup-oebridge.bb b/meta-openeuler/recipes-core/packagegroups/packagegroup-oebridge.bb
index e924bc27a621bdd46394becfb4c1645b7eff79b8..ee71f4c7c605396f7452d0a6c2c17e68d6f5cce3 100644
--- a/meta-openeuler/recipes-core/packagegroups/packagegroup-oebridge.bb
+++ b/meta-openeuler/recipes-core/packagegroups/packagegroup-oebridge.bb
@@ -80,6 +80,12 @@ XFCE_PKG_LISTS = " \
 "
 INSTALL_PKG_LISTS += "${@bb.utils.contains('DISTRO_FEATURES', 'oe-xfce', d.getVar('XFCE_PKG_LISTS'), '', d)}"
 
+ROS_PKG_LISTS = " \
+    ros-humble-ros-base:real \
+    ros-humble-turtlesim:real \
+"
+INSTALL_PKG_LISTS += "${@bb.utils.contains('DISTRO_FEATURES', 'oe-ros', d.getVar('ROS_PKG_LISTS'), '', d)}"
+
 python do_install_list_prepare(){
     import os
     import subprocess
diff --git a/meta-openeuler/recipes-devtools/dnf/dnf_%.bbappend b/meta-openeuler/recipes-devtools/dnf/dnf_%.bbappend
index 50d583842f483daeb09f03c72df2797addb85617..ed81d481c8155d32b70a55287665b15d4b3de18e 100644
--- a/meta-openeuler/recipes-devtools/dnf/dnf_%.bbappend
+++ b/meta-openeuler/recipes-devtools/dnf/dnf_%.bbappend
@@ -27,6 +27,7 @@ SRC_URI:append:class-nativesdk = " file://0001-dnf-write-the-log-lock-to-root.pa
 # add default repo
 SRC_URI:append:class-target = " \
     file://openEuler.repo \
+    file://openEulerROS.repo \
 "
 
 S = "${WORKDIR}/${BP}"
@@ -35,6 +36,7 @@ SRC_URI[sha256sum] = "7de4eb8e85c4d9a74db6f1f827d2dd3348e265631f8678a1dbf7e3346b
 
 FILES:${PN}:append:class-target = " \
     /etc/yum.repos.d/openEuler.repo \
+    ${@bb.utils.contains('DISTRO_FEATURES', 'oe-ros', '/etc/yum.repos.d/openEulerROS.repo', '', d)} \
     "
 
 do_install:append:class-target() {
@@ -42,4 +44,5 @@ do_install:append:class-target() {
     local version_dir="${@bb.utils.contains("DISTRO_FEATURES", "oebridge", "${SERVER_VERSION}", "openEuler-${DISTRO_VERSION}", d)}"
     sed -i "s/OPENEULER_VER/${version_dir}/g" ${WORKDIR}/openEuler.repo
     cp -f ${WORKDIR}/openEuler.repo ${D}/etc/yum.repos.d/
+    cp -f ${WORKDIR}/openEulerROS.repo ${D}/etc/yum.repos.d/
 }
diff --git a/meta-openeuler/recipes-devtools/dnf/files/openEulerROS.repo b/meta-openeuler/recipes-devtools/dnf/files/openEulerROS.repo
new file mode 100644
index 0000000000000000000000000000000000000000..2d011654843a0415de38fce63055e8e26069d3d7
--- /dev/null
+++ b/meta-openeuler/recipes-devtools/dnf/files/openEulerROS.repo
@@ -0,0 +1,5 @@
+[openEulerROS-humble]
+name=openEulerROS-humble
+baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-humble_openEuler-24.03-LTS-TEST4/openEuler%3A24.03-LTS/$basearch/
+enabled=1
+gpgcheck=0
\ No newline at end of file