diff --git a/extras/library_generation/library_generation.sh b/extras/library_generation/library_generation.sh
index 13b37fd51..629f434d1 100755
--- a/extras/library_generation/library_generation.sh
+++ b/extras/library_generation/library_generation.sh
@@ -18,7 +18,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("cortex_m0")
     PLATFORMS+=("cortex_m3")
     PLATFORMS+=("cortex_m4")
-    # PLATFORMS+=("portenta-m4")
+    PLATFORMS+=("portenta-m4")
     PLATFORMS+=("portenta-m7")
     PLATFORMS+=("kakutef7-m7")
     PLATFORMS+=("esp32")
@@ -175,18 +175,18 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
 fi
 
 ######## Build for Arduino Portenta M4 core ########
-# if [[ " ${PLATFORMS[@]} " =~ " portenta-m4 " ]]; then
-#     rm -rf firmware/build
+ if [[ " ${PLATFORMS[@]} " =~ " portenta-m4 " ]]; then
+     rm -rf firmware/build
 
-#     export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-7-2017-q4-major/bin/arm-none-eabi-
-#     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/portenta-m4_toolchain.cmake /project/extras/library_generation/colcon.meta
+     export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-7-2017-q4-major/bin/arm-none-eabi-
+     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/portenta-m4_toolchain.cmake /project/extras/library_generation/colcon.meta
 
-#     find firmware/build/include/ -name "*.c"  -delete
-#     cp -R firmware/build/include/* /project/src/
+     find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
 
-#     mkdir -p /project/src/cortex-m4/fpv4-sp-d16-softfp
-#     cp -R firmware/build/libmicroros.a /project/src/cortex-m4/fpv4-sp-d16-softfp/libmicroros.a
-# fi
+     mkdir -p /project/src/cortex-m4/fpv4-sp-d16-softfp
+     cp -R firmware/build/libmicroros.a /project/src/cortex-m4/fpv4-sp-d16-softfp/libmicroros.a
+ fi
 
 ######## Build for Arduino Portenta M7 core ########
 if [[ " ${PLATFORMS[@]} " =~ " portenta-m7 " ]]; then
@@ -268,4 +268,4 @@ for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git
 sort -o /project/built_packages /project/built_packages
 
 ######## Fix permissions ########
-sudo chmod -R 777 .
\ No newline at end of file
+sudo chmod -R 777 .