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[Lyrical] Switch Linux CI to apt-deb install and bump Windows zip (#1516)
Per the official Lyrical install guide (https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html), ROS 2 Lyrical is now available as Debian packages on Ubuntu 26.04. Switch all four Linux workflows to `apt-get install -y ros-lyrical-desktop` and drop the date-stamped beta tarball that had to be hand-refreshed every time upstream produced a new snapshot. The test workflows also install `ros-lyrical-test-msgs`; `ros-lyrical-mrpt-msgs` is omitted because it is not yet published for lyrical (the previous tarball path skipped both packages on lyrical too, so the test suite already tolerates its absence). Removes the `curl | tar xf` extract step, the `rosdep init/update/install` chain with its long `--skip-keys` list, and the `tar`, `bzip2`, `python3-rosdep` packages they required. Rolling continues to use the nightly tarball; humble/jazzy/kilted continue to use `ros-tooling/setup-ros@v0.7`, which does not yet recognize lyrical. On `linux-arm64-build-and-test.yml`, `sudo` is also added to the lyrical apt prerequisites: the job runs in a bare `ubuntu:26.04` container, and the downstream "Install Electron test dependencies" and "Fix permissions" steps shell out to `sudo apt …` / `sudo chown …`. The other distros get `sudo` implicitly via `ros-tooling/setup-ros`; lyrical takes the manual apt path, so it needs to be installed explicitly. Without this, the lyrical arm64 job failed with `sudo: command not found` (exit code 127). Windows still has no apt equivalent and continues to use the binary zip, but its lyrical URL is bumped from the `release-lyrical-beta-20260430` snapshot to `release-lyrical-20260522`. Fix: #1458
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‎.github/workflows/linux-arm64-build-and-test.yml‎

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# Kilted Kaiju (May 2025 - Dec 2026)
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- docker_image: ubuntu:noble
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ros_distribution: kilted
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# Lyrical Luth (May 2026 - May 2031, beta)
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# NOTE: the tarball URL below is a date-stamped beta snapshot and must
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# be refreshed manually until upstream publishes a stable "latest"
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# download (or until GA).
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# Lyrical Luth (May 2026 - May 2031)
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- docker_image: ubuntu:26.04
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ros_distribution: lyrical
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ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-aarch64.tar.bz2"
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steps:
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- name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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apt-get update
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apt-get install -y software-properties-common curl
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apt-get install -y sudo software-properties-common curl
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# Enable required repositories for the lyrical beta tarball; see:
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# Enable required repositories per:
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# https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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add-apt-repository universe
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ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
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apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
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- name: Install ROS2 from binary tarball (lyrical)
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- name: Install ROS2 from apt (lyrical)
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-lyrical.tar.bz2
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mkdir -p /opt/ros/lyrical
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tar xf /tmp/ros2-lyrical.tar.bz2 --strip-components=1 -C /opt/ros/lyrical
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rm /tmp/ros2-lyrical.tar.bz2
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rosdep init || true
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rosdep update
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rosdep install --rosdistro lyrical --from-paths /opt/ros/lyrical/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastdds iceoryx_binding_c rmw_connextdds rti-connext-dds-7.3.0 rti-connext-dds-7.7.0 urdfdom_headers python3-pyqt6.qtsvg rosidl_buffer_py pybind11"
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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apt-get install -y \
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ros-lyrical-desktop \
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ros-lyrical-test-msgs
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- name: Install test-msgs and mrpt_msgs on Linux
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if: ${{ matrix.ros_distribution != 'lyrical' }}

‎.github/workflows/linux-x64-build-and-test.yml‎

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@@ -38,14 +38,9 @@ jobs:
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# Kilted Kaiju (May 2025 - Dec 2026)
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- docker_image: ubuntu:noble
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ros_distribution: kilted
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# Lyrical Luth (May 2026 - May 2031, beta)
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# NOTE: the tarball URL below is a date-stamped beta snapshot and must
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# be refreshed manually until upstream publishes a stable "latest"
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# download (or until GA), at which point it can be replaced with the
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# stable URL similar to the rolling nightly redirect.
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# Lyrical Luth (May 2026 - May 2031)
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- docker_image: ubuntu:26.04
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ros_distribution: lyrical
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ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-x86_64.tar.bz2"
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# Rolling Ridley (No End-Of-Life) - migrated to Ubuntu 26.04 (resolute)
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# to follow the Lyrical Luth target platform.
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# See: https://docs.ros.org/en/jazzy/Releases/Release-Lyrical-Luth.html
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if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
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run: |
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apt-get update
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apt-get install -y software-properties-common curl
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apt-get install -y sudo software-properties-common curl
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# Enable required repositories. The same setup applies to both the
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# rolling nightly tarball and the lyrical beta tarball; see the
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# rolling nightly tarball and the lyrical apt-deb install; see the
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# per-distro install docs for reference:
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# rolling: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html
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# lyrical: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
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# Common build deps for both rolling and lyrical. Rolling-only tarball
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# tooling (tar, bzip2, python3-rosdep) is installed in the rolling step
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# below so the lyrical lane stays minimal.
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apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
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- name: Install ROS2 from binary tarball (rolling / lyrical)
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if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
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- name: Install ROS2 from apt (lyrical)
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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apt-get install -y \
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ros-lyrical-desktop \
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ros-lyrical-test-msgs
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- name: Install ROS2 from binary tarball (rolling)
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if: ${{ matrix.ros_distribution == 'rolling' }}
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run: |
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# Tools only the rolling tarball path needs: tar/bzip2 for extraction,
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# python3-rosdep for resolving runtime deps below.
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apt-get install -y tar bzip2 python3-rosdep
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# Extract binary tarball AFTER apt packages so its newer libs overwrite apt's older ones
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curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
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mkdir -p /opt/ros/${{ matrix.ros_distribution }}

‎.github/workflows/prebuild-linux-arm64.yml‎

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- docker_image: ubuntu:noble
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ros_distribution: kilted
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ubuntu_codename: noble
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# Lyrical Luth (May 2026 - May 2031, beta)
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# NOTE: the tarball URL below is a date-stamped beta snapshot and
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# must be refreshed manually until upstream publishes a stable
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# "latest" download (or until GA).
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# Lyrical Luth (May 2026 - May 2031)
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- docker_image: ubuntu:26.04
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ros_distribution: lyrical
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ubuntu_codename: resolute
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ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-aarch64.tar.bz2"
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steps:
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- name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
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run: |
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apt-get update
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apt-get install -y software-properties-common curl
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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add-apt-repository universe
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ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
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apt-get install -y build-essential cmake python3
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- name: Install ROS2 from binary tarball (lyrical)
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- name: Install ROS2 from apt (lyrical)
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
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mkdir -p /opt/ros/${{ matrix.ros_distribution }}
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tar xf /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2 --strip-components=1 -C /opt/ros/${{ matrix.ros_distribution }}
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rm /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
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rosdep init || true
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rosdep update
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rosdep install --rosdistro ${{ matrix.ros_distribution }} --from-paths /opt/ros/${{ matrix.ros_distribution }}/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastdds iceoryx_binding_c rmw_connextdds rti-connext-dds-7.3.0 rti-connext-dds-7.7.0 urdfdom_headers python3-pyqt6.qtsvg rosidl_buffer_py pybind11"
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apt-get install -y ros-lyrical-desktop
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- uses: actions/checkout@v6
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‎.github/workflows/prebuild-linux-x64.yml‎

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- docker_image: ubuntu:noble
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ros_distribution: kilted
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ubuntu_codename: noble
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# Lyrical Luth (May 2026 - May 2031, beta)
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# NOTE: the tarball URL below is a date-stamped beta snapshot and
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# must be refreshed manually until upstream publishes a stable
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# "latest" download (or until GA).
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# Lyrical Luth (May 2026 - May 2031)
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- docker_image: ubuntu:26.04
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ros_distribution: lyrical
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ubuntu_codename: resolute
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ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-x86_64.tar.bz2"
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steps:
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- name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
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run: |
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apt-get update
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apt-get install -y software-properties-common curl
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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add-apt-repository universe
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ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
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apt-get install -y build-essential cmake python3
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- name: Install ROS2 from binary tarball (lyrical)
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- name: Install ROS2 from apt (lyrical)
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
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mkdir -p /opt/ros/${{ matrix.ros_distribution }}
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tar xf /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2 --strip-components=1 -C /opt/ros/${{ matrix.ros_distribution }}
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rm /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
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rosdep init || true
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rosdep update
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rosdep install --rosdistro ${{ matrix.ros_distribution }} --from-paths /opt/ros/${{ matrix.ros_distribution }}/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastdds iceoryx_binding_c rmw_connextdds rti-connext-dds-7.3.0 rti-connext-dds-7.7.0 urdfdom_headers python3-pyqt6.qtsvg rosidl_buffer_py pybind11"
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apt-get install -y ros-lyrical-desktop
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- uses: actions/checkout@v6
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‎.github/workflows/windows-build-and-test.yml‎

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- ros_distribution: kilted
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ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip"
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run_tests: false
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# Lyrical Luth (May 2026 - May 2031, beta)
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# Lyrical Luth (May 2026 - May 2031)
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# Reference: https://docs.ros.org/en/lyrical/Installation/Windows-Install-Binary.html
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- ros_distribution: lyrical
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ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-windows-AMD64.zip"
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ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-20260522/ros2-lyrical-2026-05-22-windows-AMD64.zip"
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run_tests: true
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- ros_distribution: rolling
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ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-windows-amd64.zip"

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