feat: add ROS 2 Lyrical Luth (LTS) distro support

.github/workflows/ci.yml

@@ -363,7 +363,7 @@ jobs:
       - name: Setup Rust cache
         uses: Swatinem/rust-cache@v2
         with:
-          shared-key: ${{ runner.os }}-pureRust-checks
+          shared-key: ${{ runner.os }}-pureRust-checks-v2
 
       - name: Set environment variables (macOS)
         if: runner.os == 'macOS'
@@ -460,7 +460,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [humble, jazzy, kilted]
+        distro: [humble, jazzy, kilted, lyrical]
     # Skip for draft PRs to save CI time during development
     if: |
       github.event_name == 'push' ||
@@ -563,7 +563,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [humble, jazzy, kilted]
+        distro: [humble, jazzy, kilted, lyrical]
     # Skip for draft PRs to save CI time during development
     if: |
       github.event_name == 'push' ||
@@ -602,7 +602,7 @@ jobs:
       - name: Setup Rust cache
         uses: Swatinem/rust-cache@v2
         with:
-          shared-key: ${{ matrix.distro }}-ros
+          shared-key: ${{ matrix.distro }}-ros-v2
 
       - name: Run ROS tests
         run: |

.github/workflows/test.yml

@@ -40,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [humble, jazzy, kilted]
+        distro: [humble, jazzy, kilted, lyrical]
         include:
           - distro: humble
             image: ros:humble-ros-base
@@ -51,6 +51,9 @@ jobs:
           - distro: kilted
             image: ros:kilted-ros-base
             hiroz_feature: kilted
+          - distro: lyrical
+            image: ros:lyrical-ros-base
+            hiroz_feature: lyrical
     container:
       image: ${{ matrix.image }}
     steps:

README.md

@@ -26,7 +26,7 @@ Built by the [Zenoh](https://zenoh.io) team at [ZettaScale](https://www.zettasca
 
 ## Status
 
-**Hiroz** is experimental software. It is tested with ROS 2 Jazzy, Humble, and Kilted. We make no guarantees with respect to other official distributions.
+**Hiroz** is experimental software. It is tested with ROS 2 Jazzy, Humble, Kilted, and Lyrical. We make no guarantees with respect to other official distributions.
 
 ## Documentation
 

crates/hiroz-bridge/Cargo.toml

@@ -33,3 +33,5 @@ parking_lot = { workspace = true }
 default = ["jazzy"]
 jazzy = ["hiroz-msgs/jazzy"]
 humble = ["hiroz-msgs/humble", "hiroz/humble"]
+kilted = ["hiroz-msgs/kilted", "hiroz/kilted"]
+lyrical = ["hiroz-msgs/lyrical", "hiroz/lyrical"]

crates/hiroz-console/tests/common/mod.rs

@@ -1,5 +1,4 @@
 use std::process::{Child, Command, Stdio};
-use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
 use std::time::Duration;
 
@@ -75,14 +74,6 @@ impl Drop for ProcessGuard {
     }
 }
 
-/// Port counter for generating unique Zenoh router ports per test
-static NEXT_PORT: once_cell::sync::Lazy<AtomicU16> = once_cell::sync::Lazy::new(|| {
-    let pid = std::process::id();
-    let base_port = 30000 + ((pid % 10000) as u16);
-    println!("Test process {} using base port {}", pid, base_port);
-    AtomicU16::new(base_port)
-});
-
 /// Per-test Zenoh router configuration
 pub struct TestRouter {
     pub port: u16,
@@ -91,34 +82,49 @@ pub struct TestRouter {
 }
 
 impl TestRouter {
-    /// Start a new Zenoh router session on a unique port for this test
+    /// Start a new Zenoh router session on a free OS-assigned port.
+    ///
+    /// Uses bind(:0) to avoid PID-derived port collisions when multiple test
+    /// binaries run in parallel (e.g. hiroz-tests and hiroz-console).
     pub fn new() -> Self {
-        let port = NEXT_PORT.fetch_add(1, Ordering::SeqCst);
-        let endpoint = format!("tcp/127.0.0.1:{}", port);
-
-        println!("Starting Zenoh router on port {}...", port);
-
-        let mut config = zenoh::Config::default();
-        config.set_mode(Some(WhatAmI::Router)).unwrap();
-        config
-            .insert_json5("listen/endpoints", &format!("[\"{}\"]", endpoint))
-            .unwrap();
-        config
-            .insert_json5("scouting/multicast/enabled", "false")
-            .unwrap();
-
-        let session = zenoh::open(config)
-            .wait()
-            .expect("Failed to open Zenoh router session");
-
-        thread::sleep(Duration::from_millis(500));
-        println!("Zenoh router ready on {}", endpoint);
-
-        Self {
-            port,
-            endpoint: endpoint.clone(),
-            _session: session,
+        for attempt in 0..5u32 {
+            let port = {
+                let listener =
+                    std::net::TcpListener::bind("127.0.0.1:0").expect("Failed to bind port 0");
+                listener.local_addr().unwrap().port()
+            };
+            let endpoint = format!("tcp/127.0.0.1:{}", port);
+            println!(
+                "Starting Zenoh router on port {} (attempt {})...",
+                port,
+                attempt + 1
+            );
+
+            let mut config = zenoh::Config::default();
+            config.set_mode(Some(WhatAmI::Router)).unwrap();
+            config
+                .insert_json5("listen/endpoints", &format!("[\"{}\"]", endpoint))
+                .unwrap();
+            config
+                .insert_json5("scouting/multicast/enabled", "false")
+                .unwrap();
+
+            match zenoh::open(config).wait() {
+                Ok(session) => {
+                    thread::sleep(Duration::from_millis(500));
+                    println!("Zenoh router ready on {}", endpoint);
+                    return Self {
+                        port,
+                        endpoint,
+                        _session: session,
+                    };
+                }
+                Err(e) => {
+                    println!("Port {} unavailable ({}), retrying...", port, e);
+                }
+            }
         }
+        panic!("Failed to start Zenoh router after 5 attempts");
     }
 
     pub fn endpoint(&self) -> &str {

crates/hiroz-msgs/Cargo.toml

@@ -78,6 +78,7 @@ humble = ["hiroz/humble"]
 jazzy = ["hiroz/jazzy"]
 rolling = ["hiroz/rolling"]
 kilted = ["hiroz/kilted"]
+lyrical = ["hiroz/lyrical"]
 python_registry = [
   "pyo3",
   "parking_lot",

crates/hiroz-msgs/build.rs

@@ -324,6 +324,7 @@ fn discover_system_packages(packages: &[&str]) -> Result<Vec<PathBuf>> {
             "/opt/ros/rolling",
             "/opt/ros/jazzy",
             "/opt/ros/kilted",
+            "/opt/ros/lyrical",
             "/opt/ros/humble",
         ];
 

crates/hiroz-py/Cargo.toml

@@ -13,6 +13,7 @@ jazzy = ["hiroz/jazzy"]
 humble = ["hiroz/humble"]
 kilted = ["hiroz/kilted"]
 rolling = ["hiroz/rolling"]
+lyrical = ["hiroz/lyrical"]
 
 [dependencies]
 pyo3 = { workspace = true }

crates/hiroz-tests/Cargo.toml

@@ -63,3 +63,4 @@ humble = ["hiroz/humble", "hiroz-msgs/humble"]
 jazzy = ["hiroz/jazzy", "hiroz-msgs/jazzy"]
 rolling = ["hiroz/rolling", "hiroz-msgs/rolling"]
 kilted = ["hiroz/kilted", "hiroz-msgs/kilted"]
+lyrical = ["hiroz/lyrical", "hiroz-msgs/lyrical"]

crates/hiroz-tests/tests/action_interop.rs

@@ -8,12 +8,12 @@ use common::*;
 use hiroz::{Builder, action::server::ExecutingGoal};
 // Distro-specific action interfaces:
 // - Humble/Jazzy: action_tutorials_cpp uses action_tutorials_interfaces
-// - Kilted: action_tutorials_cpp uses example_interfaces
-#[cfg(not(feature = "kilted"))]
+// - Kilted/Lyrical: action_tutorials_cpp uses example_interfaces
+#[cfg(not(any(feature = "kilted", feature = "lyrical")))]
 use hiroz_msgs::action_tutorials_interfaces::{
     FibonacciFeedback, FibonacciGoal, FibonacciResult, action::Fibonacci,
 };
-#[cfg(feature = "kilted")]
+#[cfg(any(feature = "kilted", feature = "lyrical"))]
 use hiroz_msgs::example_interfaces::{
     FibonacciFeedback, FibonacciGoal, FibonacciResult, action::Fibonacci,
 };
@@ -55,13 +55,13 @@ async fn test_action_goal_accept_and_succeed() {
                 for i in 2..=ord as usize {
                     let next = seq[i - 1] + seq[i - 2];
                     seq.push(next);
-                    #[cfg(feature = "kilted")]
+                    #[cfg(any(feature = "kilted", feature = "lyrical"))]
                     executing
                         .publish_feedback(FibonacciFeedback {
                             sequence: seq.clone(),
                         })
                         .unwrap();
-                    #[cfg(not(feature = "kilted"))]
+                    #[cfg(not(any(feature = "kilted", feature = "lyrical")))]
                     executing
                         .publish_feedback(FibonacciFeedback {
                             partial_sequence: seq.clone(),
@@ -272,13 +272,13 @@ async fn test_action_feedback_ordering() {
                     let next = seq[i - 1] + seq[i - 2];
                     seq.push(next);
                     // Publish feedback with the growing partial sequence
-                    #[cfg(feature = "kilted")]
+                    #[cfg(any(feature = "kilted", feature = "lyrical"))]
                     executing
                         .publish_feedback(FibonacciFeedback {
                             sequence: seq.clone(),
                         })
                         .unwrap();
-                    #[cfg(not(feature = "kilted"))]
+                    #[cfg(not(any(feature = "kilted", feature = "lyrical")))]
                     executing
                         .publish_feedback(FibonacciFeedback {
                             partial_sequence: seq.clone(),
@@ -319,9 +319,9 @@ async fn test_action_feedback_ordering() {
     if let Some(mut fb_rx) = goal_handle.feedback() {
         tokio::spawn(async move {
             while let Some(fb) = fb_rx.recv().await {
-                #[cfg(feature = "kilted")]
+                #[cfg(any(feature = "kilted", feature = "lyrical"))]
                 let seq = fb.sequence.clone();
-                #[cfg(not(feature = "kilted"))]
+                #[cfg(not(any(feature = "kilted", feature = "lyrical")))]
                 let seq = fb.partial_sequence.clone();
                 rf.lock().unwrap().push(seq);
             }

crates/hiroz-tests/tests/type_description_interop.rs

@@ -32,6 +32,18 @@ use hiroz_msgs::type_description_interfaces::{
 };
 use hiroz_schema::{FieldDescription, FieldTypeDescription, TypeDescription, TypeDescriptionMsg};
 
+// Lyrical's demo_nodes_cpp talker uses example_interfaces/msg/String instead of std_msgs/msg/String
+#[cfg(not(feature = "lyrical"))]
+const TALKER_TYPE_NAME: &str = "std_msgs/msg/String";
+#[cfg(feature = "lyrical")]
+const TALKER_TYPE_NAME: &str = "example_interfaces/msg/String";
+#[cfg(not(feature = "lyrical"))]
+const TALKER_TYPE_HASH: &str =
+    "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18";
+#[cfg(feature = "lyrical")]
+const TALKER_TYPE_HASH: &str =
+    "RIHS01_5509d866a579951f2fc6c19577c32605ba16f308cae7b498341d79536d4eb06b";
+
 /// Convert from wire format TypeDescription to hiroz-schema TypeDescriptionMsg.
 ///
 /// This is needed because the wire format uses generated ROS message types,
@@ -133,13 +145,9 @@ fn test_get_type_description_from_ros2_talker() {
             // Give more time for ROS 2 node to fully initialize
             tokio::time::sleep(Duration::from_secs(3)).await;
 
-            // Request type description for std_msgs/msg/String
-            // Use the type hash that matches our computation
             let req = GetTypeDescriptionRequest {
-                type_name: "std_msgs/msg/String".to_string(),
-                type_hash:
-                    "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
-                        .to_string(),
+                type_name: TALKER_TYPE_NAME.to_string(),
+                type_hash: TALKER_TYPE_HASH.to_string(),
                 include_type_sources: true,
             };
 
@@ -175,7 +183,7 @@ fn test_get_type_description_from_ros2_talker() {
     );
     assert_eq!(
         result.type_description.type_description.type_name,
-        "std_msgs/msg/String"
+        TALKER_TYPE_NAME
     );
     assert_eq!(result.type_description.type_description.fields.len(), 1);
     assert_eq!(
@@ -242,12 +250,9 @@ fn test_get_type_description_without_sources() {
 
             tokio::time::sleep(Duration::from_secs(3)).await;
 
-            // Request with valid hash (ROS 2 Jazzy requires hash to be provided)
             let req = GetTypeDescriptionRequest {
-                type_name: "std_msgs/msg/String".to_string(),
-                type_hash:
-                    "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
-                        .to_string(),
+                type_name: TALKER_TYPE_NAME.to_string(),
+                type_hash: TALKER_TYPE_HASH.to_string(),
                 include_type_sources: false,
             };
 
@@ -269,7 +274,7 @@ fn test_get_type_description_without_sources() {
     );
     assert_eq!(
         result.type_description.type_description.type_name,
-        "std_msgs/msg/String"
+        TALKER_TYPE_NAME
     );
 
     // Without include_type_sources, should have empty sources
@@ -372,10 +377,8 @@ fn test_dynamic_subscriber_from_type_description() {
             tokio::time::sleep(Duration::from_secs(3)).await;
 
             let req = GetTypeDescriptionRequest {
-                type_name: "std_msgs/msg/String".to_string(),
-                type_hash:
-                    "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
-                        .to_string(),
+                type_name: TALKER_TYPE_NAME.to_string(),
+                type_hash: TALKER_TYPE_HASH.to_string(),
                 include_type_sources: false,
             };
 

crates/hiroz/Cargo.toml

@@ -83,10 +83,11 @@ ffi = []
 # Default is jazzy (recommended for new projects)
 # For humble, use: --no-default-features --features humble,...
 # Note: Distro features are mutually exclusive - enabling multiple may cause conflicts
-humble = ["no-type-hash", "no-jazzy", "no-rolling", "no-kilted"]
-jazzy = ["type-hash", "no-humble", "no-rolling", "no-kilted"]
-rolling = ["type-hash", "no-humble", "no-jazzy", "no-kilted"]
-kilted = ["type-hash", "no-humble", "no-jazzy", "no-rolling"]
+humble = ["no-type-hash", "no-jazzy", "no-rolling", "no-kilted", "no-lyrical"]
+jazzy = ["type-hash", "no-humble", "no-rolling", "no-kilted", "no-lyrical"]
+rolling = ["type-hash", "no-humble", "no-jazzy", "no-kilted", "no-lyrical"]
+kilted = ["type-hash", "no-humble", "no-jazzy", "no-rolling", "no-lyrical"]
+lyrical = ["type-hash", "no-humble", "no-jazzy", "no-rolling", "no-kilted"]
 
 # Internal features for distro compatibility
 humble-compat = []
@@ -98,6 +99,7 @@ no-humble = []
 no-jazzy = []
 no-rolling = []
 no-kilted = []
+no-lyrical = []
 
 
 # NOTE: Examples that use hiroz-msgs must be built from workspace root

crates/hiroz/examples/demo_nodes/fibonacci_action_client.rs

@@ -1,10 +1,10 @@
 use hiroz::{Builder, Result, context::ZContext};
 // Distro-specific action interfaces:
 // - Humble/Jazzy: action_tutorials_cpp uses action_tutorials_interfaces
-// - Kilted: action_tutorials_cpp uses example_interfaces
-#[cfg(not(feature = "kilted"))]
+// - Kilted/Lyrical: action_tutorials_cpp uses example_interfaces
+#[cfg(not(any(feature = "kilted", feature = "lyrical")))]
 use hiroz_msgs::action_tutorials_interfaces::{FibonacciGoal, action::Fibonacci};
-#[cfg(feature = "kilted")]
+#[cfg(any(feature = "kilted", feature = "lyrical"))]
 use hiroz_msgs::example_interfaces::{FibonacciGoal, action::Fibonacci};
 
 // ANCHOR: full_example
@@ -46,9 +46,9 @@ pub async fn run_fibonacci_action_client(ctx: ZContext, order: i32) -> Result<Ve
         tokio::spawn(async move {
             while let Some(fb) = feedback_stream.recv().await {
                 // Distro-specific feedback field names
-                #[cfg(feature = "kilted")]
+                #[cfg(any(feature = "kilted", feature = "lyrical"))]
                 println!("Feedback: {:?}", fb.sequence);
-                #[cfg(not(feature = "kilted"))]
+                #[cfg(not(any(feature = "kilted", feature = "lyrical")))]
                 println!("Feedback: {:?}", fb.partial_sequence);
             }
         });