feat: add ROS 2 Lyrical Luth (LTS) distro support#190
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… API Lyrical's rmw_subscription_s adds is_cft_supported (Content Filtered Topic) alongside the existing is_cft_enabled. Use ..Default::default() in struct initializers to stay forward-compatible with any future field additions. Also replace the fragile sed-based Lyrical config workaround with a minimal known-good ZENOH_SESSION_CONFIG_URI approach that bypasses all config parse issues in ros-lyrical-rmw-zenoh-cpp 0.10.x.
Lyrical updated demo_nodes_cpp and action_tutorials_cpp to use example_interfaces instead of std_msgs/action_tutorials_interfaces. Update the cfg guards in talker/listener/fibonacci examples to also include the lyrical feature flag (same pattern as kilted). Also: - Add #[allow(clippy::needless_update)] on the two rmw_subscription_t initializers in rmw-zenoh-rs to suppress needless_update lint on Jazzy/Kilted (where all fields are explicit; Lyrical needs the ..Default::default() to cover the new is_cft_supported field). - Bump rust-cache shared-key suffix to -v2 to evict a corrupted pyo3-build-config cache entry that has been failing every CI run.
Lyrical's demo_nodes_cpp uses example_interfaces/msg/String (not std_msgs/msg/String) and example_interfaces/action/Fibonacci (not action_tutorials_interfaces). Update type_description_interop.rs to use distro-aware TALKER_TYPE_NAME/TALKER_TYPE_HASH constants, and extend action_interop.rs kilted cfg guards to also cover lyrical.
Replaces the PID-derived NEXT_PORT counter with bind(:0) port allocation, matching the hiroz-tests TestRouter. Prevents port conflicts when hiroz-tests and hiroz-console test binaries run sequentially on the same runner and happen to derive the same base port from their PIDs.
The Lyrical rmw_zenoh_cpp (v0.10.4) explicitly uses transport/shared_memory/transport_optimization/pool_size and message_size_threshold in its C++ source and ships a config that includes transport_optimization — the bundled zenoh-c 1.8.0 fully supports these fields. The ZENOH_SESSION_CONFIG_URI minimal-config workaround was based on a wrong diagnosis and strips away all ROS-tuned transport settings.
Update all documentation that lists supported ROS 2 distributions to include Lyrical (May 2026–May 2031 LTS) alongside Jazzy, Kilted, and Rolling. Covers distro-compatibility, feature-flags, nix, building, quick-start, bridge, interop, rmw-zenoh-rs, bindings, and actions-advanced cfg guard examples.
Add /opt/ros/lyrical to hiroz-msgs build.rs fallback path list so message discovery works with a local Lyrical ROS install. Add lyrical feature check to test-pure-rust.nu check-distro-features step.
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Summary
Adds ROS 2 Lyrical Luth (LTS, May 2026–May 2031) as a supported distro alongside Humble, Jazzy, and Kilted.
Key Changes
Distro support
lyrical,DistroDefaults::lyrical(), and codegen assets for Lyricallyricaladded to the scriptsDISTROSlistRMW compatibility
rmw_zenoh-rs: add..Default::default()tormw_subscription_tinitialisers to fill the newis_cft_supportedfield introduced in Lyrical's RMW headers#[allow(clippy::needless_update)]onrmw_create_subscription/rmw_destroy_subscriptionto silence the lint on Jazzy/Kilted where all fields are already explicitLyrical demo_nodes interface migration
demo_nodes_cpptalker usesexample_interfaces/msg/String(notstd_msgs/msg/String) andaction_tutorials_cppusesexample_interfaces/action/Fibonacci(notaction_tutorials_interfaces)listener.rs,talker.rs:#[cfg(feature = "lyrical")]gate selects the right message typefibonacci_action_client.rs,fibonacci_action_server.rs: extend existing#[cfg(feature = "kilted")]guards to#[cfg(any(feature = "kilted", feature = "lyrical"))]hiroz-tests/tests/action_interop.rstype_description_interop.rs: distro-awareTALKER_TYPE_NAME/TALKER_TYPE_HASHconstants so tests query the correct type from the Lyrical talkerTest infrastructure
hiroz-console/tests/common/mod.rs: replace PID-derivedNEXT_PORTwithbind(:0)OS-assigned ports, matchinghiroz-tests, to prevent port collisions when test binaries run back-to-back on the same CI runnerpureRust-checksand<distro>-roscache keys to-v2to evict a corruptedpyo3-build-configcache entry that caused persistent build failuresLyrical distro properties
example_interfacesreplacesstd_msgs/action_tutorials_interfacesin demo nodesis_cft_supportedfield in thermw_subscription_sC struct