Address comments

Author: minggangw

.github/workflows/linux-arm64-build-and-test.yml

@@ -37,7 +37,7 @@ jobs:
           # Kilted Kaiju (May 2025 - Dec 2026)
           - docker_image: ubuntu:noble
             ros_distribution: kilted
-          # Lyrical Luth (May 2026 - May 2031, beta)
+          # Lyrical Luth (May 2026 - May 2031)
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
 

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

@@ -38,7 +38,7 @@ jobs:
           # Kilted Kaiju (May 2025 - Dec 2026)
           - docker_image: ubuntu:noble
             ros_distribution: kilted
-          # Lyrical Luth (May 2026 - May 2031, beta)
+          # Lyrical Luth (May 2026 - May 2031)
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
           # Rolling Ridley (No End-Of-Life) - migrated to Ubuntu 26.04 (resolute)
@@ -76,7 +76,10 @@ jobs:
         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"
         dpkg -i /tmp/ros2-apt-source.deb
         apt-get update
-        apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
+        # Common build deps for both rolling and lyrical. Rolling-only tarball
+        # tooling (tar, bzip2, python3-rosdep) is installed in the rolling step
+        # below so the lyrical lane stays minimal.
+        apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
 
     - name: Install ROS2 from apt (lyrical)
       if: ${{ matrix.ros_distribution == 'lyrical' }}
@@ -89,6 +92,10 @@ jobs:
     - name: Install ROS2 from binary tarball (rolling)
       if: ${{ matrix.ros_distribution == 'rolling' }}
       run: |
+        # Tools only the rolling tarball path needs: tar/bzip2 for extraction,
+        # python3-rosdep for resolving runtime deps below.
+        apt-get install -y tar bzip2 python3-rosdep
+
         # Extract binary tarball AFTER apt packages so its newer libs overwrite apt's older ones
         curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
         mkdir -p /opt/ros/${{ matrix.ros_distribution }}

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

@@ -32,7 +32,7 @@ jobs:
           - docker_image: ubuntu:noble
             ros_distribution: kilted
             ubuntu_codename: noble
-          # Lyrical Luth (May 2026 - May 2031, beta)
+          # Lyrical Luth (May 2026 - May 2031)
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
             ubuntu_codename: resolute

.github/workflows/prebuild-linux-x64.yml

@@ -32,7 +32,7 @@ jobs:
           - docker_image: ubuntu:noble
             ros_distribution: kilted
             ubuntu_codename: noble
-          # Lyrical Luth (May 2026 - May 2031, beta)
+          # Lyrical Luth (May 2026 - May 2031)
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
             ubuntu_codename: resolute

.github/workflows/windows-build-and-test.yml

@@ -27,7 +27,7 @@ jobs:
           - ros_distribution: kilted
             ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip"
             run_tests: false
-          # Lyrical Luth (May 2026 - May 2031, beta)
+          # Lyrical Luth (May 2026 - May 2031)
           # Reference: https://docs.ros.org/en/lyrical/Installation/Windows-Install-Binary.html
           - ros_distribution: lyrical
             ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-20260522/ros2-lyrical-2026-05-22-windows-AMD64.zip"