Add ROS 2 Lyrical Luth

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

@@ -26,6 +26,7 @@ jobs:
           - humble
           - jazzy
           - kilted
+          - lyrical
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
@@ -36,6 +37,13 @@ jobs:
           # Kilted Kaiju (May 2025 - Dec 2026)
           - docker_image: ubuntu:noble
             ros_distribution: kilted
+          # 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
+            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 +53,48 @@ 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

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

@@ -26,6 +26,7 @@ jobs:
           - humble
           - jazzy
           - kilted
+          - lyrical
           - rolling
         include:
           # Humble Hawksbill (May 2022 - May 2027)
@@ -37,6 +38,14 @@ jobs:
           # Kilted Kaiju (May 2025 - Dec 2026)
           - docker_image: ubuntu:noble
             ros_distribution: kilted
+          # 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
+            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
@@ -51,40 +60,45 @@ 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. 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"
         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: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
+      run: |
+        # Extract binary tarball AFTER apt packages so its newer libs overwrite apt's older ones
+        curl -sL "${{ 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 +115,7 @@ 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 +124,10 @@ 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

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

@@ -18,6 +18,7 @@ jobs:
         ros_distribution:
           - jazzy
           - kilted
+          - lyrical
           - rolling
         include:
           - ros_distribution: jazzy
@@ -26,6 +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)
+          # 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
           - 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 +58,21 @@ 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

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();

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'
       );

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);

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 = [];

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;
 }
 

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;
 }
 

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();