Add ROS 2 Lyrical Luth

Author: minggangw

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

@@ -17,6 +17,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ${{ matrix.docker_image }}
+    continue-on-error: ${{ matrix.experimental == true }}
     strategy:
       fail-fast: false
       matrix:
@@ -26,6 +27,7 @@ jobs:
           - humble
           - jazzy
           - kilted
+          - lyrical
           - rolling
         include:
           # Humble Hawksbill (May 2022 - May 2027)
@@ -37,6 +39,11 @@ jobs:
           # Kilted Kaiju (May 2025 - Dec 2026)
           - docker_image: ubuntu:noble
             ros_distribution: kilted
+          # Lyrical Luth (May 2026 - May 2031, beta) - allow-failure until packages stabilize
+          - docker_image: ubuntu:26.04
+            ros_distribution: lyrical
+            experimental: true
+            ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260429-1/ros2-lyrical-2026-04-29-1-resolute-x86_64.tar.bz2"
           # Rolling Ridley (No End-Of-Life)
           - docker_image: ubuntu:noble
             ros_distribution: rolling
@@ -49,41 +56,46 @@ jobs:
         architecture: ${{ matrix.architecture }}
 
     - name: Setup ROS2
-      if: ${{ matrix.ros_distribution != 'rolling' }}
+      if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
-    - name: Install ROS2 Rolling Nightly
-      if: ${{ matrix.ros_distribution == 'rolling' }}
+    - name: Enable ROS2 apt repository (rolling / lyrical)
+      if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
       run: |
         apt-get update
         apt-get install -y software-properties-common curl
 
-        # Enable required repositories (per https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html)
+        # Enable required repositories (per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html)
         add-apt-repository universe
         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 $4}')
         curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${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
-
-        # Install prerequisites and apt packages BEFORE nightly tarball
         apt-get update
         apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
-        apt-get install -y ros-rolling-test-msgs ros-rolling-mrpt-msgs
 
-        # Extract nightly binary AFTER apt packages so nightly's newer libs overwrite apt's older ones
-        curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-nightly.tar.bz2
-        mkdir -p /opt/ros/rolling
-        tar xf /tmp/ros2-nightly.tar.bz2 --strip-components=1 -C /opt/ros/rolling
-        rm /tmp/ros2-nightly.tar.bz2
+    - name: Install ROS2 from binary tarball (rolling / lyrical)
+      if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
+      run: |
+        # Install apt packages BEFORE the binary tarball
+        apt-get install -y ros-${{ matrix.ros_distribution }}-test-msgs
+        # mrpt_msgs may not be available for newer/beta distros (e.g. lyrical); install best-effort
+        apt-get install -y ros-${{ matrix.ros_distribution }}-mrpt-msgs || echo "ros-${{ matrix.ros_distribution }}-mrpt-msgs not yet available, skipping"
+
+        # 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/${{ matrix.ros_distribution }}
+        tar xf /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2 --strip-components=1 -C /opt/ros/${{ matrix.ros_distribution }}
+        rm /tmp/ros2-${{ matrix.ros_distribution }}.tar.bz2
 
         # Install any remaining runtime dependencies using rosdep
         rosdep init || true
         rosdep update
-        rosdep install --rosdistro rolling --from-paths /opt/ros/rolling/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"
+        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"
 
     - name: Install test-msgs and mrpt_msgs on Linux
-      if: ${{ matrix.ros_distribution != 'rolling' }}
+      if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
       run: |
         sudo apt install -y ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
 
@@ -98,18 +110,7 @@ jobs:
 
     - uses: actions/checkout@v6
 
-    - name: Build and test rclnodejs (nightly)
-      if: ${{ matrix.ros_distribution == 'rolling' }}
-      run: |
-        uname -a
-        source /opt/ros/rolling/setup.bash
-        npm i
-        npm run lint
-        npm test
-        npm run clean
-
     - name: Build and test rclnodejs
-      if: ${{ matrix.ros_distribution != 'rolling' }}
       run: |
         uname -a
         source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
@@ -118,10 +119,10 @@ jobs:
         npm test
         npm run clean
 
-    - name: Test with IDL ROS messages against rolling
-      if: ${{ matrix.ros_distribution == 'rolling' }}
+    - name: Test with IDL ROS messages (rolling / lyrical)
+      if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
       run: |
-        source /opt/ros/rolling/setup.bash
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
         npm i
         npm run test-idl
         npm run clean