Installing Mosquitto on Yocto

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I am trying to install Mosquitto on an embedded device running a Yocto Pyro distribution. From my research I know I will have to cross-compile the Mosquitto source code in Ubuntu for my target device. My target device is using Linux kernal version 4.1.15 and is using this SOM device https://www.variscite.com/product/system-on-module-som/cortex-a7/dart-6ul-freescale-imx-6ul/#memory.

I have some work to do in figuring out exactly how to complete the cross-compilation as I am a novice in the Linux world, however my question is: what do I do with the compiled code once it has been built in my Ubuntu VM?

Any helpful resources you are aware of for cross-compiling would also be greatly appreciated. Many of the resources I find for installing MQTT on my device require a new build of the OS. Is it possible to install Mosquitto on an existing build?

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