From a785fb7df9a46f0744c15d60b57d0f19d05b6ff3 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 18:42:43 +0800
Subject: [PATCH 01/10] Add ROS 2 Lyrical Luth

---
 .../workflows/linux-x64-build-and-test.yml    | 56 ++++++++++---------
 1 file changed, 29 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index 3b67083a..c90bc0a7 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.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) - migrated to Ubuntu 26.04 (resolute)
           # to follow the Lyrical Luth target platform.
           # See: https://docs.ros.org/en/jazzy/Releases/Release-Lyrical-Luth.html
@@ -51,40 +58,46 @@ 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
 
-        # 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
 
@@ -101,18 +114,7 @@ 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
@@ -121,10 +123,10 @@ 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

From cb8ca6ade943127ab54362e44eb9c1528956db98 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 18:58:32 +0800
Subject: [PATCH 02/10] Address comments

---
 .github/workflows/linux-x64-build-and-test.yml | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index c90bc0a7..ab2c920f 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -80,10 +80,12 @@ jobs:
     - 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"
+        # Install apt packages BEFORE the binary tarball (rolling only;
+        # test-msgs / mrpt-msgs are not yet published for lyrical and
+        # test_msgs is bundled in the lyrical tarball itself).
+        if [ "${{ matrix.ros_distribution }}" = "rolling" ]; then
+          apt-get install -y ros-rolling-test-msgs ros-rolling-mrpt-msgs
+        fi
 
         # 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

From dae156541bb80dfcac048f2112242da7d644634a Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 19:29:18 +0800
Subject: [PATCH 03/10] Address comments

---
 lib/action/client.js               | 9 +++++----
 lib/node.js                        | 4 ++--
 lib/subscription.js                | 4 ++--
 src/rcl_action_client_bindings.cpp | 8 ++++----
 src/rcl_lifecycle_bindings.cpp     | 2 +-
 5 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/lib/action/client.js b/lib/action/client.js
index 28c5fd7a..d866a1a6 100644
--- a/lib/action/client.js
+++ b/lib/action/client.js
@@ -94,12 +94,13 @@ class ActionClient extends Entity {
     };
 
     // Enable feedback subscription content filter optimization.
-    // Only supported on ROS2 Rolling and only effective when the native
-    // binding provides the required functions AND the RMW implementation
-    // actually supports content filtering on the feedback subscription.
+    // Only supported on ROS2 Lyrical or newer and only effective when the
+    // native binding provides the required functions AND the RMW
+    // implementation actually supports content filtering on the feedback
+    // subscription.
     this._enableFeedbackMsgOptimization =
       this._options.enableFeedbackMsgOptimization === true &&
-      DistroUtils.getDistroId() >= DistroUtils.DistroId.ROLLING &&
+      DistroUtils.getDistroId() >= DistroUtils.DistroId.LYRICAL &&
       typeof rclnodejs.actionConfigureFeedbackSubFilterAddGoalId === 'function';
 
     let type = this.typeClass.type();
diff --git a/lib/node.js b/lib/node.js
index 2bc01ae7..d1b49fe0 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -1587,7 +1587,7 @@ class Node extends rclnodejs.ShadowNode {
    * @returns {Array} - list of clients
    */
   getClientsInfoByService(service, noDemangle = false) {
-    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.LYRICAL) {
       console.warn(
         'getClientsInfoByService is not supported by this version of ROS 2'
       );
@@ -1621,7 +1621,7 @@ class Node extends rclnodejs.ShadowNode {
    * @returns {Array} - list of servers
    */
   getServersInfoByService(service, noDemangle = false) {
-    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.LYRICAL) {
       console.warn(
         'getServersInfoByService is not supported by this version of ROS 2'
       );
diff --git a/lib/subscription.js b/lib/subscription.js
index 8cd3a214..97eb4765 100644
--- a/lib/subscription.js
+++ b/lib/subscription.js
@@ -147,11 +147,11 @@ class Subscription extends Entity {
 
   /**
    * Check if content filtering is supported for this subscription.
-   * Requires ROS 2 Rolling or later.
+   * Requires ROS 2 Lyrical or later.
    * @returns {boolean} True if the subscription instance supports content filtering; otherwise false.
    */
   isContentFilterSupported() {
-    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.LYRICAL) {
       return false;
     }
     return rclnodejs.isContentFilterSupported(this.handle);
diff --git a/src/rcl_action_client_bindings.cpp b/src/rcl_action_client_bindings.cpp
index 560b33f4..b106f8c9 100644
--- a/src/rcl_action_client_bindings.cpp
+++ b/src/rcl_action_client_bindings.cpp
@@ -250,7 +250,7 @@ Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info) {
   return Napi::Number::New(env, static_cast<double>(sequence_number));
 }
 
-#if ROS_VERSION >= 5000  // ROS2 Rolling
+#if ROS_VERSION >= 2605  // ROS2 Lyrical or newer
 Napi::Value ActionConfigureFeedbackSubFilterAddGoalId(
     const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
@@ -309,7 +309,7 @@ Napi::Value ActionConfigureFeedbackSubFilterRemoveGoalId(
 
   return Napi::Boolean::New(env, true);
 }
-#endif  // ROS_VERSION >= 5000
+#endif  // ROS_VERSION >= 2605
 
 #if ROS_VERSION >= 2505  // ROS2 >= Kilted
 Napi::Value ConfigureActionClientIntrospection(const Napi::CallbackInfo& info) {
@@ -369,14 +369,14 @@ Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("configureActionClientIntrospection",
               Napi::Function::New(env, ConfigureActionClientIntrospection));
 #endif                   // ROS_VERSION >= 2505
-#if ROS_VERSION >= 5000  // ROS2 Rolling
+#if ROS_VERSION >= 2605  // ROS2 Lyrical or newer
   exports.Set(
       "actionConfigureFeedbackSubFilterAddGoalId",
       Napi::Function::New(env, ActionConfigureFeedbackSubFilterAddGoalId));
   exports.Set(
       "actionConfigureFeedbackSubFilterRemoveGoalId",
       Napi::Function::New(env, ActionConfigureFeedbackSubFilterRemoveGoalId));
-#endif  // ROS_VERSION >= 5000
+#endif  // ROS_VERSION >= 2605
   return exports;
 }
 
diff --git a/src/rcl_lifecycle_bindings.cpp b/src/rcl_lifecycle_bindings.cpp
index 57bf67a9..f9c9210c 100644
--- a/src/rcl_lifecycle_bindings.cpp
+++ b/src/rcl_lifecycle_bindings.cpp
@@ -71,7 +71,7 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
   const rosidl_service_type_support_t* gs =
       GetServiceTypeSupport("lifecycle_msgs", "GetState");
 
-#if ROS_VERSION >= 5000  // ROS2 Rolling
+#if ROS_VERSION >= 2605  // ROS2 Lyrical or newer
   rcl_lifecycle_state_machine_options_t options =
       rcl_lifecycle_get_default_state_machine_options();
   options.enable_com_interface = info[1].As<Napi::Boolean>().Value();

From c830cd1453a4359dc497a41d3e7281f9758d6584 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 20:44:15 +0800
Subject: [PATCH 04/10] Address comments

---
 rosidl_gen/templates/message-template.js | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rosidl_gen/templates/message-template.js b/rosidl_gen/templates/message-template.js
index 242ff728..c3b53698 100644
--- a/rosidl_gen/templates/message-template.js
+++ b/rosidl_gen/templates/message-template.js
@@ -266,12 +266,12 @@ function generateMessage(data) {
   const currentTypedArrayElementType = getTypedArrayElementName(spec.baseType);
 
   // ROS 2 Rolling (ros2/rosidl#941) added is_rosidl_buffer / owns_rosidl_buffer
-  // to every primitive sequence struct.  Emit the extra fields only for
-  // primitive-package types on Rolling+.
+  // to every primitive sequence struct. Lyrical inherits the same ABI change.
+  // Emit the extra fields only for primitive-package types on Lyrical+.
   const DistroUtils = require('../../lib/distro.js');
   const needsRosidlBufferFields =
     isPrimitivePackage(spec.baseType) &&
-    DistroUtils.getDistroId() >= DistroUtils.getDistroId('rolling');
+    DistroUtils.getDistroId() >= DistroUtils.DistroId.LYRICAL;
 
   // Track required modules
   let existedModules = [];

From 6e4485be4d4f8b1849c97739e037bd73feba26a9 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 22:21:50 +0800
Subject: [PATCH 05/10] Address comments

---
 .github/workflows/linux-x64-build-and-test.yml | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index ab2c920f..1376bca3 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -80,13 +80,6 @@ jobs:
     - name: Install ROS2 from binary tarball (rolling / lyrical)
       if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
       run: |
-        # Install apt packages BEFORE the binary tarball (rolling only;
-        # test-msgs / mrpt-msgs are not yet published for lyrical and
-        # test_msgs is bundled in the lyrical tarball itself).
-        if [ "${{ matrix.ros_distribution }}" = "rolling" ]; then
-          apt-get install -y ros-rolling-test-msgs ros-rolling-mrpt-msgs
-        fi
-
         # 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 }}

From 2fd237a25fcee0c5db7156e4088c33d0fb0d44c8 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 23:26:44 +0800
Subject: [PATCH 06/10] Address comments

---
 test/test-subscription-content-filter.js | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/test/test-subscription-content-filter.js b/test/test-subscription-content-filter.js
index 01b24b57..345a2a62 100644
--- a/test/test-subscription-content-filter.js
+++ b/test/test-subscription-content-filter.js
@@ -506,9 +506,11 @@ describe('subscription isContentFilterSupported', function () {
     const supported = subscription.isContentFilterSupported();
     assert.strictEqual(typeof supported, 'boolean');
 
-    // isContentFilterSupported requires rolling; on older distros it returns false
-    const isRolling = DistroUtils.getDistroId() >= DistroUtils.DistroId.ROLLING;
-    const expectedSupported = isRolling && isContentFilteringSupported();
+    // isContentFilterSupported requires Lyrical or newer; on older distros it
+    // returns false.
+    const isLyricalOrNewer =
+      DistroUtils.getDistroId() >= DistroUtils.DistroId.LYRICAL;
+    const expectedSupported = isLyricalOrNewer && isContentFilteringSupported();
     assert.strictEqual(supported, expectedSupported);
 
     done();

From cb7c6245e13f1984e3bf128576e45e3f9c78f1c2 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 1 May 2026 23:55:25 +0800
Subject: [PATCH 07/10] Address comments

---
 .github/workflows/linux-x64-build-and-test.yml | 12 ++++++++++--
 test/test-graph.js                             |  4 ++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index 1376bca3..0ed375ac 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -39,7 +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
+          # Lyrical Luth (May 2026 - May 2031, beta) - allow-failure until packages stabilize.
+          # NOTE: the tarball URL below is a date-stamped beta snapshot and must
+          # be refreshed manually until upstream publishes a stable "latest"
+          # download (or until GA), at which point it can be replaced with the
+          # stable URL similar to the rolling nightly redirect.
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
             experimental: true
@@ -69,7 +73,11 @@ jobs:
         apt-get update
         apt-get install -y software-properties-common curl
 
-        # Enable required repositories (per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html)
+        # Enable required repositories. The same setup applies to both the
+        # rolling nightly tarball and the lyrical beta tarball; see the
+        # per-distro install docs for reference:
+        #   rolling: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html
+        #   lyrical: 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"
diff --git a/test/test-graph.js b/test/test-graph.js
index 189c879a..425ce016 100644
--- a/test/test-graph.js
+++ b/test/test-graph.js
@@ -64,7 +64,7 @@ describe('rclnodejs graph test suite', function () {
   it('Get clients info by service', function () {
     if (
       rclnodejs.DistroUtils.getDistroId() <
-      rclnodejs.DistroUtils.DistroId.ROLLING
+      rclnodejs.DistroUtils.DistroId.LYRICAL
     ) {
       this.skip();
     }
@@ -86,7 +86,7 @@ describe('rclnodejs graph test suite', function () {
   it('Get servers info by service', function () {
     if (
       rclnodejs.DistroUtils.getDistroId() <
-      rclnodejs.DistroUtils.DistroId.ROLLING
+      rclnodejs.DistroUtils.DistroId.LYRICAL
     ) {
       this.skip();
     }

From 89802c22beba42c4eada25675c0472f446fe2c46 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Sat, 2 May 2026 16:27:11 +0800
Subject: [PATCH 08/10] Address comments

---
 .../workflows/linux-arm64-build-and-test.yml  | 46 ++++++++++++++++++-
 .../workflows/linux-x64-build-and-test.yml    |  2 +-
 2 files changed, 45 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/linux-arm64-build-and-test.yml b/.github/workflows/linux-arm64-build-and-test.yml
index ea4cd700..35234533 100644
--- a/.github/workflows/linux-arm64-build-and-test.yml
+++ b/.github/workflows/linux-arm64-build-and-test.yml
@@ -17,6 +17,7 @@ jobs:
     runs-on: ubuntu-24.04-arm
     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
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
@@ -36,6 +38,14 @@ 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.
+          # NOTE: the tarball URL below is a date-stamped beta snapshot and must
+          # be refreshed manually until upstream publishes a stable "latest"
+          # download (or until GA).
+          - docker_image: ubuntu:26.04
+            ros_distribution: lyrical
+            experimental: true
+            ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-aarch64.tar.bz2"
 
     steps:
     - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
@@ -45,16 +55,48 @@ jobs:
         architecture: ${{ matrix.architecture }}
 
     - name: Setup ROS2
+      if: ${{ matrix.ros_distribution != 'lyrical' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
+    - name: Enable ROS2 apt repository (lyrical)
+      if: ${{ matrix.ros_distribution == 'lyrical' }}
+      run: |
+        apt-get update
+        apt-get install -y software-properties-common curl
+
+        # Enable required repositories for the lyrical beta tarball; see:
+        # https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
+        add-apt-repository universe
+        ROS_APT_SOURCE_VERSION=$(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
+        apt-get update
+        apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
+
+    - name: Install ROS2 from binary tarball (lyrical)
+      if: ${{ matrix.ros_distribution == 'lyrical' }}
+      run: |
+        curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-lyrical.tar.bz2
+        mkdir -p /opt/ros/lyrical
+        tar xf /tmp/ros2-lyrical.tar.bz2 --strip-components=1 -C /opt/ros/lyrical
+        rm /tmp/ros2-lyrical.tar.bz2
+
+        rosdep init || true
+        rosdep update
+        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"
+
     - name: Install test-msgs and mrpt_msgs on Linux
+      if: ${{ matrix.ros_distribution != 'lyrical' }}
+      run: |
+        sudo apt install -y ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
+
+    - name: Install Electron test dependencies
       run: |
-        sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
         # Adjust dependencies based on Ubuntu version
         LIBASOUND_PKG="libasound2"
-        if grep -q "24.04" /etc/os-release; then
+        if grep -Eq "24\.04|26\.04" /etc/os-release; then
           LIBASOUND_PKG="libasound2t64"
         fi
         sudo apt install -y xvfb libgtk-3-0 libnss3 $LIBASOUND_PKG libgbm-dev
diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index 0ed375ac..d59f3514 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -47,7 +47,7 @@ jobs:
           - 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"
+            ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-x86_64.tar.bz2"
           # Rolling Ridley (No End-Of-Life) - migrated to Ubuntu 26.04 (resolute)
           # to follow the Lyrical Luth target platform.
           # See: https://docs.ros.org/en/jazzy/Releases/Release-Lyrical-Luth.html

From 3da8a981cc6ab650df490111f8f319661bc19d6e Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Sat, 2 May 2026 16:44:31 +0800
Subject: [PATCH 09/10] Address comments

---
 .github/workflows/windows-build-and-test.yml | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/.github/workflows/windows-build-and-test.yml b/.github/workflows/windows-build-and-test.yml
index 7ea265b1..53dc36da 100644
--- a/.github/workflows/windows-build-and-test.yml
+++ b/.github/workflows/windows-build-and-test.yml
@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: windows-2025
+    continue-on-error: ${{ matrix.experimental == true }}
     strategy:
       fail-fast: false
       matrix:
@@ -18,6 +19,7 @@ jobs:
         ros_distribution:
           - jazzy
           - kilted
+          - lyrical
           - rolling
         include:
           - ros_distribution: jazzy
@@ -26,6 +28,12 @@ jobs:
           - ros_distribution: kilted
             ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip"
             run_tests: false
+          # Lyrical Luth (May 2026 - May 2031, beta) - allow-failure until packages stabilize.
+          # Reference: https://docs.ros.org/en/lyrical/Installation/Windows-Install-Binary.html
+          - ros_distribution: lyrical
+            ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-windows-AMD64.zip"
+            run_tests: false
+            experimental: true
           - ros_distribution: rolling
             ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-windows-amd64.zip"
             run_tests: false
@@ -52,9 +60,21 @@ jobs:
         choco install 7zip -y
         Invoke-WebRequest -Uri "${{ matrix.ros_zip_url }}" -OutFile ros2.zip
         7z x ros2.zip -y -oC:\pixi_ws
+        if (!(Test-Path C:\pixi_ws\ros2-windows\setup.bat)) {
+          $setupScript = Get-ChildItem -Path C:\pixi_ws -Recurse -Filter setup.bat | Select-Object -First 1
+          if ($null -eq $setupScript) {
+            throw "Unable to find ROS 2 setup.bat after extracting ${{ matrix.ros_zip_url }}"
+          }
+          Move-Item -Path $setupScript.Directory.FullName -Destination C:\pixi_ws\ros2-windows
+        }
         Invoke-WebRequest -Uri "https://raw.githubusercontent.com/ros2/ros2/refs/heads/${{ matrix.ros_distribution }}/pixi.toml" -OutFile C:\pixi_ws\pixi.toml
         Push-Location C:\pixi_ws
         pixi install
+        if (Test-Path C:\pixi_ws\ros2-windows\preinstall_setup_windows.py) {
+          Push-Location C:\pixi_ws\ros2-windows
+          pixi run python preinstall_setup_windows.py
+          Pop-Location
+        }
         Pop-Location
 
     - name: Prebuild - Setup VS Dev Environment

From 8c3a72f3e02ceb7907d6de6d132e9ae4a7c13fb8 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Sun, 3 May 2026 21:57:35 +0800
Subject: [PATCH 10/10] Address comments

---
 .github/workflows/linux-arm64-build-and-test.yml |  4 +---
 .github/workflows/linux-x64-build-and-test.yml   |  4 +---
 .github/workflows/windows-build-and-test.yml     |  4 +---
 src/rcl_graph_bindings.cpp                       | 16 ++++++++--------
 src/rcl_subscription_bindings.cpp                |  4 ++--
 src/rcl_utilities.cpp                            |  8 ++++----
 src/rcl_utilities.h                              |  4 ++--
 types/distro.d.ts                                | 16 +++++++++++++++-
 8 files changed, 34 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/linux-arm64-build-and-test.yml b/.github/workflows/linux-arm64-build-and-test.yml
index 35234533..f9c7edc1 100644
--- a/.github/workflows/linux-arm64-build-and-test.yml
+++ b/.github/workflows/linux-arm64-build-and-test.yml
@@ -17,7 +17,6 @@ jobs:
     runs-on: ubuntu-24.04-arm
     container:
       image: ${{ matrix.docker_image }}
-    continue-on-error: ${{ matrix.experimental == true }}
     strategy:
       fail-fast: false
       matrix:
@@ -38,13 +37,12 @@ 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.
+          # Lyrical Luth (May 2026 - May 2031, beta)
           # NOTE: the tarball URL below is a date-stamped beta snapshot and must
           # be refreshed manually until upstream publishes a stable "latest"
           # download (or until GA).
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
-            experimental: true
             ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-aarch64.tar.bz2"
 
     steps:
diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index d59f3514..0f70f445 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -17,7 +17,6 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ${{ matrix.docker_image }}
-    continue-on-error: ${{ matrix.experimental == true }}
     strategy:
       fail-fast: false
       matrix:
@@ -39,14 +38,13 @@ 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.
+          # Lyrical Luth (May 2026 - May 2031, beta)
           # NOTE: the tarball URL below is a date-stamped beta snapshot and must
           # be refreshed manually until upstream publishes a stable "latest"
           # download (or until GA), at which point it can be replaced with the
           # stable URL similar to the rolling nightly redirect.
           - docker_image: ubuntu:26.04
             ros_distribution: lyrical
-            experimental: true
             ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-resolute-x86_64.tar.bz2"
           # Rolling Ridley (No End-Of-Life) - migrated to Ubuntu 26.04 (resolute)
           # to follow the Lyrical Luth target platform.
diff --git a/.github/workflows/windows-build-and-test.yml b/.github/workflows/windows-build-and-test.yml
index 53dc36da..b6f530d7 100644
--- a/.github/workflows/windows-build-and-test.yml
+++ b/.github/workflows/windows-build-and-test.yml
@@ -11,7 +11,6 @@ on:
 jobs:
   build:
     runs-on: windows-2025
-    continue-on-error: ${{ matrix.experimental == true }}
     strategy:
       fail-fast: false
       matrix:
@@ -28,12 +27,11 @@ 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) - allow-failure until packages stabilize.
+          # Lyrical Luth (May 2026 - May 2031, beta)
           # 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-beta-20260430/ros2-lyrical-2026-04-30-windows-AMD64.zip"
             run_tests: false
-            experimental: true
           - ros_distribution: rolling
             ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-windows-amd64.zip"
             run_tests: false
diff --git a/src/rcl_graph_bindings.cpp b/src/rcl_graph_bindings.cpp
index cd06f39b..455bca7e 100644
--- a/src/rcl_graph_bindings.cpp
+++ b/src/rcl_graph_bindings.cpp
@@ -33,12 +33,12 @@ typedef rcl_ret_t (*rcl_get_info_by_topic_func_t)(
     const char* topic_name, bool no_mangle,
     rcl_topic_endpoint_info_array_t* info_array);
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 typedef rcl_ret_t (*rcl_get_info_by_service_func_t)(
     const rcl_node_t* node, rcutils_allocator_t* allocator,
     const char* service_name, bool no_mangle,
     rcl_service_endpoint_info_array_t* info_array);
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
 Napi::Value GetPublisherNamesAndTypesByNode(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
@@ -264,7 +264,7 @@ Napi::Value GetSubscriptionsInfoByTopic(const Napi::CallbackInfo& info) {
                         "subscriptions", rcl_get_subscriptions_info_by_topic);
 }
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 Napi::Value GetInfoByService(
     Napi::Env env, rcl_node_t* node, const char* service_name, bool no_mangle,
     const char* type, rcl_get_info_by_service_func_t rcl_get_info_by_service) {
@@ -300,9 +300,9 @@ Napi::Value GetInfoByService(
 
   return ConvertToJSServiceEndpointInfoList(env, &info_array);
 }
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 Napi::Value GetClientsInfoByService(const Napi::CallbackInfo& info) {
   RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
@@ -322,7 +322,7 @@ Napi::Value GetServersInfoByService(const Napi::CallbackInfo& info) {
   return GetInfoByService(info.Env(), node, service_name.c_str(), no_mangle,
                           "servers", rcl_get_servers_info_by_service);
 }
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
 Napi::Object InitGraphBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getPublisherNamesAndTypesByNode",
@@ -341,12 +341,12 @@ Napi::Object InitGraphBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, GetPublishersInfoByTopic));
   exports.Set("getSubscriptionsInfoByTopic",
               Napi::Function::New(env, GetSubscriptionsInfoByTopic));
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
   exports.Set("getClientsInfoByService",
               Napi::Function::New(env, GetClientsInfoByService));
   exports.Set("getServersInfoByService",
               Napi::Function::New(env, GetServersInfoByService));
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
   return exports;
 }
 
diff --git a/src/rcl_subscription_bindings.cpp b/src/rcl_subscription_bindings.cpp
index 078e89ab..607f0442 100644
--- a/src/rcl_subscription_bindings.cpp
+++ b/src/rcl_subscription_bindings.cpp
@@ -265,7 +265,7 @@ Napi::Value GetSubscriptionTopic(const Napi::CallbackInfo& info) {
   return Napi::String::New(env, topic);
 }
 
-#if ROS_VERSION > 2505  // Rolling only
+#if ROS_VERSION >= 2605  // ROS2 Lyrical or newer
 Napi::Value IsContentFilterSupported(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -491,7 +491,7 @@ Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("rclTakeRaw", Napi::Function::New(env, RclTakeRaw));
   exports.Set("getSubscriptionTopic",
               Napi::Function::New(env, GetSubscriptionTopic));
-#if ROS_VERSION > 2505  // Rolling only
+#if ROS_VERSION >= 2605  // ROS2 Lyrical or newer
   exports.Set("isContentFilterSupported",
               Napi::Function::New(env, IsContentFilterSupported));
 #endif
diff --git a/src/rcl_utilities.cpp b/src/rcl_utilities.cpp
index ad84792a..4f4d86b6 100644
--- a/src/rcl_utilities.cpp
+++ b/src/rcl_utilities.cpp
@@ -124,7 +124,7 @@ Napi::Value ConvertToJSTopicEndpoint(
   return endpoint;
 }
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 Napi::Value ConvertToJSServiceEndpointInfo(
     Napi::Env env, const rmw_service_endpoint_info_t* service_endpoint_info) {
   Napi::Object endpoint = Napi::Object::New(env);
@@ -164,7 +164,7 @@ Napi::Value ConvertToJSServiceEndpointInfo(
 
   return endpoint;
 }
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
 uv_lib_t g_lib;
 Napi::Env g_env = nullptr;
@@ -308,7 +308,7 @@ Napi::Array ConvertToJSTopicEndpointInfoList(
   return list;
 }
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 Napi::Array ConvertToJSServiceEndpointInfoList(
     Napi::Env env, const rmw_service_endpoint_info_array_t* info_array) {
   Napi::Array list = Napi::Array::New(env, info_array->size);
@@ -319,7 +319,7 @@ Napi::Array ConvertToJSServiceEndpointInfoList(
   }
   return list;
 }
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
 char** AbstractArgsFromNapiArray(const Napi::Array& jsArgv) {
   size_t argc = jsArgv.Length();
diff --git a/src/rcl_utilities.h b/src/rcl_utilities.h
index 568824ea..7d8b7b19 100644
--- a/src/rcl_utilities.h
+++ b/src/rcl_utilities.h
@@ -51,10 +51,10 @@ void ExtractNamesAndTypes(rcl_names_and_types_t names_and_types,
 Napi::Array ConvertToJSTopicEndpointInfoList(
     Napi::Env env, const rmw_topic_endpoint_info_array_t* info_array);
 
-#if ROS_VERSION > 2505
+#if ROS_VERSION >= 2605
 Napi::Array ConvertToJSServiceEndpointInfoList(
     Napi::Env env, const rmw_service_endpoint_info_array_t* info_array);
-#endif  // ROS_VERSION > 2505
+#endif  // ROS_VERSION >= 2605
 
 Napi::Value ConvertToQoS(Napi::Env env, const rmw_qos_profile_t* qos_profile);
 
diff --git a/types/distro.d.ts b/types/distro.d.ts
index c3f16107..58ad4154 100644
--- a/types/distro.d.ts
+++ b/types/distro.d.ts
@@ -3,7 +3,16 @@ declare module 'rclnodejs' {
     /**
      * Valid ROS 2 distro short names
      */
-    type DistroName = 'eloquent' | 'foxy' | 'galactic' | 'humble' | 'rolling';
+    type DistroName =
+      | 'eloquent'
+      | 'foxy'
+      | 'galactic'
+      | 'humble'
+      | 'iron'
+      | 'jazzy'
+      | 'kilted'
+      | 'lyrical'
+      | 'rolling';
 
     /**
      * rclnodejs distro ID numbers
@@ -14,7 +23,12 @@ declare module 'rclnodejs' {
       FOXY = 2006,
       GALACTIC = 2105,
       HUMBLE = 2205,
+      IRON = 2305,
+      JAZZY = 2405,
+      KILTED = 2505,
+      LYRICAL = 2605,
       ROLLING = 5000,
+      FUTURE = 9999,
     }
 
     /**