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feat: Add ROS 2 Lyrical installers #70

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9d125bc
feat: Add ROS 2 Lyrical installers
Tiryoh Jun 3, 2026
bb631ec
ci: Add Lyrical installer tests
Tiryoh Jun 4, 2026
129ac92
ci: Run Lyrical tutorial tests
Tiryoh Jun 4, 2026
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49 changes: 49 additions & 0 deletions .github/workflows/installers.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ on:
- "ros2-humble-**.sh"
- "ros2-jazzy-**.sh"
- "ros2-kilted-**.sh"
- "ros2-lyrical-**.sh"
- ".github/workflows/installers.yml"
pull_request:
branches:
Expand All @@ -15,6 +16,7 @@ on:
- "ros2-humble-**.sh"
- "ros2-jazzy-**.sh"
- "ros2-kilted-**.sh"
- "ros2-lyrical-**.sh"
- ".github/workflows/installers.yml"
schedule:
- cron: "0 1 * * 1"
Expand Down Expand Up @@ -117,3 +119,50 @@ jobs:
run: |
sed -e 's/^\(ROS_DISTRO=.*\)/#\1\nROS_DISTRO=kilted/g' -i tutorial.sh
bash <(head -n -2 ./tutorial.sh)

lyrical-ros-base-main:
runs-on: ubuntu-24.04
container: ubuntu:26.04
defaults:
run:
shell: bash
env:
DEBIAN_FRONTEND: noninteractive
ROS_DISTRO: lyrical
steps:
- name: Install container prerequisites
run: |
apt-get update
apt-get install -y ca-certificates git sudo
- uses: actions/checkout@v6
- name: Run the install script
run: |
./ros2-lyrical-ros-base-main.sh
- name: Run the test script
run: |
sed -e 's/^\(ROS_DISTRO=.*\)/#\1\nROS_DISTRO=lyrical/g' -i tutorial.sh
sed -e 's/^\(source \/opt.*bash\)$/\1\nrosdep install -r -y -i --from-paths ./g' -i tutorial.sh
bash <(head -n -2 ./tutorial.sh)
Comment on lines +141 to +145

@coderabbitai coderabbitai Bot Jun 4, 2026

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⚠️ Potential issue | 🟠 Major | ⚡ Quick win

Use explicit smoke checks for Lyrical jobs instead of tutorial build flow.

Line 145 and Line 168 still execute tutorial.sh (which performs clone/build/test), so these jobs are not lightweight smoke checks and are likely to be slower/flakier in ubuntu:26.04 containers.

Suggested patch 
   lyrical-ros-base-main:
@@
-      - name: Run the test script
+      - name: Run smoke tests
         run: |
-          sed -e 's/^\(ROS_DISTRO=.*\)/#\1\nROS_DISTRO=lyrical/g' -i tutorial.sh
-          sed -e 's/^\(source \/opt.*bash\)$/\1\nrosdep install -r -y -i --from-paths ./g' -i tutorial.sh
-          bash <(head -n -2 ./tutorial.sh)
+          source /opt/ros/lyrical/setup.bash
+          ros2 pkg prefix rclcpp
+          ros2 interface show std_msgs/msg/String

   lyrical-desktop-main:
@@
-      - name: Run the test script
+      - name: Run smoke tests
         run: |
-          sed -e 's/^\(ROS_DISTRO=.*\)/#\1\nROS_DISTRO=lyrical/g' -i tutorial.sh
-          bash <(head -n -2 ./tutorial.sh)
+          source /opt/ros/lyrical/setup.bash
+          ros2 pkg prefix rclcpp
+          ros2 interface show std_msgs/msg/String
+          ros2 pkg prefix rviz2

Also applies to: 165-168

🧰 Tools
🪛 zizmor (1.25.2)

[warning] 123-145: overly broad permissions (excessive-permissions): default permissions used due to no permissions: block

(excessive-permissions)

🤖 Prompt for AI Agents 
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In @.github/workflows/installers.yml around lines 141 - 145, Replace the heavy
tutorial build flow invoked in the "Run the test script" step (the sed lines
that edit tutorial.sh and the bash <(head -n -2 ./tutorial.sh) invocation) with
explicit lightweight smoke checks for Lyrical jobs: remove the sed edits and the
tutorial.sh execution and instead run targeted, fast validations (for example: a
minimal colcon build of only lyrical packages or a quick smoke test command such
as running a small unit-test subset or a CLI sanity check) so the job becomes a
fast smoke check rather than cloning/building the full tutorial; update the step
named "Run the test script" to run these explicit smoke commands.


lyrical-desktop-main:
runs-on: ubuntu-24.04
container: ubuntu:26.04
defaults:
run:
shell: bash
env:
DEBIAN_FRONTEND: noninteractive
ROS_DISTRO: lyrical
steps:
- name: Install container prerequisites
run: |
apt-get update
apt-get install -y ca-certificates git sudo
- uses: actions/checkout@v6
- name: Run the install script
run: |
./ros2-lyrical-desktop-main.sh
- name: Run the test script
run: |
sed -e 's/^\(ROS_DISTRO=.*\)/#\1\nROS_DISTRO=lyrical/g' -i tutorial.sh
bash <(head -n -2 ./tutorial.sh)
6 changes: 6 additions & 0 deletions .test/test-os-check-noble.bats
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Original file line number Diff line number Diff line change
Expand Up @@ -17,3 +17,9 @@ setup() {
[ "$status" -eq 1 ]
assert_output --partial "ERROR: This OS (version: noble) is not supported"
}

@test "Lyrical fail on Ubuntu 24.04" {
run ./ros2-lyrical-desktop-main.sh
[ "$status" -eq 1 ]
assert_output --partial "ERROR: This OS (version: noble) is not supported"
}
7 changes: 7 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,11 @@ ROS 2 Kilted
* To install `ros-kilted-ros-base`, use [`ros2-kilted-ros-base-main.sh`](./ros2-kilted-ros-base-main.sh) instead of `run.sh`.
* To install `ros-kilted-desktop`, use [`ros2-kilted-desktop-main.sh`](./ros2-kilted-desktop-main.sh) instead of `run.sh`.

ROS 2 Lyrical (LTS)

* To install `ros-lyrical-ros-base`, use [`ros2-lyrical-ros-base-main.sh`](./ros2-lyrical-ros-base-main.sh) instead of `run.sh`.
* To install `ros-lyrical-desktop`, use [`ros2-lyrical-desktop-main.sh`](./ros2-lyrical-desktop-main.sh) instead of `run.sh`.

#### Old versions

ROS 2 Dashing (EOL)
Expand Down Expand Up @@ -75,13 +80,15 @@ Reference: [REP-0003](https://ros.org/reps/rep-0003.html), [REP-2000](https://ro
| Ubuntu 20.04<br>EOL: April 2025[^3] | Noetic<br>EOL: May 2025 | Foxy<br>EOL: May 2023 |
| Ubuntu 22.04<br>EOL: April 2027[^4] | - | Humble<br>EOL: May 2027 |
| Ubuntu 24.04<br>EOL: June 2029[^5] | - | Jazzy<br>EOL: May 2029 |
| Ubuntu 26.04<br>EOL: May 2031[^6] | - | Lyrical<br>EOL: May 2031 |

* Note: Here, EOL for Ubuntu refers to the end of normal support, which is not Ubuntu Pro.

[^2]: https://ubuntu.com//blog/18-04-end-of-standard-support
[^3]: https://wiki.ubuntu.com/FocalFossa/ReleaseNotes
[^4]: https://discourse.ubuntu.com/t/jammy-jellyfish-release-notes/24668
[^5]: https://discourse.ubuntu.com/t/noble-numbat-release-notes/39890
[^6]: https://documentation.ubuntu.com/project/release-team/list-of-releases/

## LICENSE

Expand Down
69 changes: 69 additions & 0 deletions ros2-lyrical-desktop-main.sh
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@@ -0,0 +1,69 @@
#!/usr/bin/env bash
set -eu

# Copyright 2019-2026 Tiryoh
# https://github.com/Tiryoh/ros2_setup_scripts_ubuntu
# Licensed under the Apache License, Version 2.0
#
# REF: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
# by Open Robotics, licensed under CC-BY-4.0
# source: https://github.com/ros2/ros2_documentation

CHOOSE_ROS_DISTRO=lyrical
INSTALL_PACKAGE=desktop
TARGET_OS=resolute

# Check OS version
if ! which lsb_release > /dev/null ; then

@gemini-code-assist gemini-code-assist Bot Jun 4, 2026

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medium

Using which to check for command existence is non-standard and can behave inconsistently across different POSIX shells or minimal environments. It is recommended to use command -v instead.

Suggested change
if ! which lsb_release > /dev/null ; then
if ! command -v lsb_release > /dev/null ; then

sudo apt-get update
sudo apt-get install -y curl lsb-release
fi

if [[ "$(lsb_release -sc)" == "$TARGET_OS" ]]; then
echo "OS Check Passed"
else
printf '\033[33m%s\033[m\n' "=================================================="
printf '\033[33m%s\033[m\n' "ERROR: This OS (version: $(lsb_release -sc)) is not supported"
printf '\033[33m%s\033[m\n' "=================================================="
exit 1
fi

ARCH=$(dpkg --print-architecture)
if [[ "$ARCH" != "amd64" && "$ARCH" != "arm64" ]]; then
printf '\033[33m%s\033[m\n' "=================================================="
printf '\033[33m%s\033[m\n' "ERROR: This architecture ($ARCH) is not supported"
printf '\033[33m%s\033[m\n' "See https://www.ros.org/reps/rep-2000.html"
printf '\033[33m%s\033[m\n' "=================================================="
exit 1
fi

# Install
sudo apt-get update
sudo apt-get install -y software-properties-common
sudo add-apt-repository -y universe
sudo apt-get install -y curl lsb-release build-essential

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"
Comment on lines +46 to +47

@gemini-code-assist gemini-code-assist Bot Jun 4, 2026

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high

The curl command lacks error handling. If the GitHub API rate limit is exceeded or a network error occurs, ROS_APT_SOURCE_VERSION will be empty, leading to a subsequent silent failure or a corrupted package download because curl without -f does not return a non-zero exit code on HTTP errors (like 404). Adding -f / --fail and checking if the version string is empty improves robustness.

Suggested change
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"
ROS_APT_SOURCE_VERSION=$(curl -sSf https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
if [[ -z "$ROS_APT_SOURCE_VERSION" ]]; then
echo "ERROR: Failed to fetch the latest ros-apt-source version." >&2
exit 1
fi
curl -sSLf -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"

sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
Comment on lines +48 to +50

@coderabbitai coderabbitai Bot Jun 4, 2026

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⚠️ Potential issue | 🟠 Major | ⚡ Quick win

Restore the pre-install apt upgrade step.

These installers skip the upgrade that the existing distro scripts already perform before installing ROS packages. The current Lyrical Ubuntu-deb instructions still call out upgrading first because ROS packages are built against frequently updated Ubuntu systems; omitting it here makes fresh Resolute installs more fragile. (docs.ros.org)

Suggested fix 
 sudo dpkg -i /tmp/ros2-apt-source.deb
 sudo apt-get update
+sudo apt-get upgrade -y
 sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get upgrade -y
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
🤖 Prompt for AI Agents 
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@ros2-lyrical-desktop-main.sh` around lines 48 - 50, Add back the pre-install
system upgrade step before installing the ROS apt package: after installing
/tmp/ros2-apt-source.deb (the block that uses sudo dpkg -i) and before running
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE, run an apt
update/upgrade sequence (e.g., sudo apt-get update && sudo apt-get -y upgrade)
to ensure the system packages are up-to-date per the Lyrical install docs;
update the script around the sudo dpkg -i and sudo apt-get install lines in
ros2-lyrical-desktop-main.sh so the upgrade runs first and then proceeds to
install the ROS package.

sudo apt-get install -y python3-argcomplete python3-colcon-clean
sudo apt-get install -y python3-colcon-common-extensions
sudo apt-get install -y python3-rosdep python3-vcstool
[ -e /etc/ros/rosdep/sources.list.d/20-default.list ] ||
sudo rosdep init
rosdep update
grep -F "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" ~/.bashrc ||
echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
# From ROS 2 Iron, it uses ROS_AUTOMATIC_DISCOVERY_RANGE instead of ROS_LOCALHOST_ONLY
# https://docs.ros.org/en/iron/Releases/Release-Iron-Irwini.html#improved-discovery-options
grep -F "export ROS_AUTOMATIC_DISCOVERY_RANGE=" ~/.bashrc ||
echo "# export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> ~/.bashrc

set +u

source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash

echo "success installing ROS2 $CHOOSE_ROS_DISTRO"
echo "Run 'source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash'"
69 changes: 69 additions & 0 deletions ros2-lyrical-ros-base-main.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,69 @@
#!/usr/bin/env bash
set -eu

# Copyright 2019-2026 Tiryoh
# https://github.com/Tiryoh/ros2_setup_scripts_ubuntu
# Licensed under the Apache License, Version 2.0
#
# REF: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
# by Open Robotics, licensed under CC-BY-4.0
# source: https://github.com/ros2/ros2_documentation

CHOOSE_ROS_DISTRO=lyrical
INSTALL_PACKAGE=ros-base
TARGET_OS=resolute

# Check OS version
if ! which lsb_release > /dev/null ; then

@gemini-code-assist gemini-code-assist Bot Jun 4, 2026

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medium

Using which to check for command existence is non-standard and can behave inconsistently across different POSIX shells or minimal environments. It is recommended to use command -v instead.

Suggested change
if ! which lsb_release > /dev/null ; then
if ! command -v lsb_release > /dev/null ; then

sudo apt-get update
sudo apt-get install -y curl lsb-release
fi

if [[ "$(lsb_release -sc)" == "$TARGET_OS" ]]; then
echo "OS Check Passed"
else
printf '\033[33m%s\033[m\n' "=================================================="
printf '\033[33m%s\033[m\n' "ERROR: This OS (version: $(lsb_release -sc)) is not supported"
printf '\033[33m%s\033[m\n' "=================================================="
exit 1
fi

ARCH=$(dpkg --print-architecture)
if [[ "$ARCH" != "amd64" && "$ARCH" != "arm64" ]]; then
printf '\033[33m%s\033[m\n' "=================================================="
printf '\033[33m%s\033[m\n' "ERROR: This architecture ($ARCH) is not supported"
printf '\033[33m%s\033[m\n' "See https://www.ros.org/reps/rep-2000.html"
printf '\033[33m%s\033[m\n' "=================================================="
exit 1
fi

# Install
sudo apt-get update
sudo apt-get install -y software-properties-common
sudo add-apt-repository -y universe
sudo apt-get install -y curl lsb-release build-essential

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"
Comment on lines +46 to +47

@gemini-code-assist gemini-code-assist Bot Jun 4, 2026

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high

The curl command lacks error handling. If the GitHub API rate limit is exceeded or a network error occurs, ROS_APT_SOURCE_VERSION will be empty, leading to a subsequent silent failure or a corrupted package download because curl without -f does not return a non-zero exit code on HTTP errors (like 404). Adding -f / --fail and checking if the version string is empty improves robustness.

Suggested change
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"
ROS_APT_SOURCE_VERSION=$(curl -sSf https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
if [[ -z "$ROS_APT_SOURCE_VERSION" ]]; then
echo "ERROR: Failed to fetch the latest ros-apt-source version." >&2
exit 1
fi
curl -sSLf -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"

sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
Comment on lines +48 to +50

@coderabbitai coderabbitai Bot Jun 4, 2026

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⚠️ Potential issue | 🟠 Major | ⚡ Quick win

Restore the pre-install apt upgrade step.

This variant has the same regression as the desktop installer: it goes straight from apt-get update to apt install ros-lyrical-ros-base. The Lyrical deb-install guide still recommends upgrading first, so skipping it here makes the new installer less reliable on fresh Resolute machines. (docs.ros.org)

Suggested fix 
 sudo dpkg -i /tmp/ros2-apt-source.deb
 sudo apt-get update
+sudo apt-get upgrade -y
 sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt-get update
sudo apt-get upgrade -y
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
🤖 Prompt for AI Agents 
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@ros2-lyrical-ros-base-main.sh` around lines 48 - 50, Restore the pre-install
upgrade step before installing ROS packages: after running "sudo dpkg -i
/tmp/ros2-apt-source.deb" and immediately following "sudo apt-get update", run
an upgrade (e.g., "sudo apt-get upgrade -y" or the project's preferred upgrade
command) to ensure packages are up-to-date before the "sudo apt-get install -y
ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE" step; update the script around the
dpkg/update/install block to include this upgrade command.

sudo apt-get install -y python3-argcomplete python3-colcon-clean
sudo apt-get install -y python3-colcon-common-extensions
sudo apt-get install -y python3-rosdep python3-vcstool
[ -e /etc/ros/rosdep/sources.list.d/20-default.list ] ||
sudo rosdep init
rosdep update
grep -F "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" ~/.bashrc ||
echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
# From ROS 2 Iron, it uses ROS_AUTOMATIC_DISCOVERY_RANGE instead of ROS_LOCALHOST_ONLY
# https://docs.ros.org/en/iron/Releases/Release-Iron-Irwini.html#improved-discovery-options
grep -F "export ROS_AUTOMATIC_DISCOVERY_RANGE=" ~/.bashrc ||
echo "# export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> ~/.bashrc

set +u

source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash

echo "success installing ROS2 $CHOOSE_ROS_DISTRO"
echo "Run 'source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash'"