[Lyrical] Switch Linux CI to apt-deb install amd bump Windows zip#1516
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minggangw wants to merge 4 commits into
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[Lyrical] Switch Linux CI to apt-deb install amd bump Windows zip#1516minggangw wants to merge 4 commits into
minggangw wants to merge 4 commits into
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Pull request overview
Updates the GitHub Actions Linux CI/prebuild workflows to install ROS 2 Lyrical via the official apt/deb repository instead of a date-stamped beta tarball, reducing manual maintenance and aligning with upstream installation guidance.
Changes:
- Switch Lyrical installation in Linux x64/arm64 prebuild workflows from tarball extraction to
apt-get install ros-lyrical-desktop. - Switch Lyrical installation in Linux x64/arm64 build-and-test workflows to apt/deb, including
ros-lyrical-test-msgswhere tests require it. - Remove Lyrical-specific tarball URL matrix entries and the associated extract/rosdep steps.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| .github/workflows/prebuild-linux-x64.yml | Installs Lyrical ROS via apt and removes the tarball URL/installation path. |
| .github/workflows/prebuild-linux-arm64.yml | Same as x64 prebuild: use apt-based Lyrical install and drop tarball URL usage. |
| .github/workflows/linux-x64-build-and-test.yml | Installs Lyrical via apt (desktop + test-msgs) while keeping Rolling on the nightly tarball path. |
| .github/workflows/linux-arm64-build-and-test.yml | Installs Lyrical via apt (desktop + test-msgs) and removes the prior tarball extraction/rosdep chain. |
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|
coverage: 85.474%. remained the same — minggangw:lyrical-apt-install into RobotWebTools:develop |
| @@ -30,7 +30,7 @@ jobs: | |||
| # Lyrical Luth (May 2026 - May 2031, beta) | |||
| @@ -33,13 +33,9 @@ jobs: | |||
| ros_distribution: kilted | |||
| ubuntu_codename: noble | |||
| # Lyrical Luth (May 2026 - May 2031, beta) | |||
| @@ -33,13 +33,9 @@ jobs: | |||
| ros_distribution: kilted | |||
| ubuntu_codename: noble | |||
| # Lyrical Luth (May 2026 - May 2031, beta) | |||
| @@ -39,13 +39,8 @@ | |||
| - docker_image: ubuntu:noble | |||
| ros_distribution: kilted | |||
| # Lyrical Luth (May 2026 - May 2031, beta) | |||
| @@ -38,12 +38,8 @@ jobs: | |||
| - docker_image: ubuntu:noble | |||
| ros_distribution: kilted | |||
| # Lyrical Luth (May 2026 - May 2031, beta) | |||
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| - name: Enable ROS2 apt repository (rolling / lyrical) | ||
| if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }} | ||
| run: | | ||
| apt-get update | ||
| apt-get install -y software-properties-common curl | ||
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| # Enable required repositories. The same setup applies to both the | ||
| # rolling nightly tarball and the lyrical beta tarball; see the | ||
| # rolling nightly tarball and the lyrical apt-deb install; see the | ||
| # per-distro install docs for reference: | ||
| # rolling: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html | ||
| # lyrical: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html | ||
| add-apt-repository universe | ||
| ROS_APT_SOURCE_VERSION=$(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 | ||
| apt-get update | ||
| apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions | ||
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Per the official Lyrical install guide (https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html), ROS 2 Lyrical is now available as Debian packages on Ubuntu 26.04. Switch all four Linux workflows to
apt-get install -y ros-lyrical-desktopand drop the date-stamped beta tarball that had to be hand-refreshed every time upstream produced a new snapshot. The test workflows also installros-lyrical-test-msgs;ros-lyrical-mrpt-msgsis omitted because it is not yet published for lyrical (the previous tarball path skipped both packages on lyrical too, so the test suite already tolerates its absence). Removes thecurl | tar xfextract step, therosdep init/update/installchain with its long--skip-keyslist, and thetar,bzip2,python3-rosdeppackages they required. Rolling continues to use the nightly tarball; humble/jazzy/kilted continue to useros-tooling/setup-ros@v0.7, which does not yet recognize lyrical.On
linux-arm64-build-and-test.yml,sudois also added to the lyrical apt prerequisites: the job runs in a bareubuntu:26.04container, and the downstream "Install Electron test dependencies" and "Fix permissions" steps shell out tosudo apt …/sudo chown …. The other distros getsudoimplicitly viaros-tooling/setup-ros; lyrical takes the manual apt path, so it needs to be installed explicitly. Without this, the lyrical arm64 job failed withsudo: command not found(exit code 127).Windows still has no apt equivalent and continues to use the binary zip, but its lyrical URL is bumped from the
release-lyrical-beta-20260430snapshot torelease-lyrical-20260522.Fix: #1458