selfpatch · bburda · May 26, 2026 · May 26, 2026 · May 26, 2026
diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
@@ -4,7 +4,7 @@
 
 **ros2_medkit** is a ROS 2 diagnostics gateway that exposes ROS 2 system information via a RESTful HTTP API aligned with the **SOVD (Service-Oriented Vehicle Diagnostics)** specification. It models robots as a diagnostic entity tree: **Area -> Component -> App**, with optional **Function** groupings.
 
-**Tech Stack**: C++17, ROS 2 Jazzy/Humble/Rolling, Ubuntu 24.04/22.04
+**Tech Stack**: C++17, ROS 2 Jazzy/Humble/Lyrical, Ubuntu 26.04/24.04/22.04
 
 ## Package Structure
 
@@ -294,7 +294,7 @@ Every code change must include corresponding tests. A feature without tests is n
 - **Flag** new `.cpp` source files under `src/core/` that aren't picked up by `gateway_core`'s `GLOB_RECURSE` source list, or new ROS-adapter `.cpp` files that aren't added to the `gateway_ros2` STATIC library target in CMakeLists.txt.
 - **Flag** any `#include <rclcpp/...>` or message-package include in a file under `core/` - the layer must stay middleware-neutral. The `gateway_core_purity` linter and `test_gateway_core_smoke` link test enforce this; do not paper over their failures.
 - **Flag** new test targets that don't link to `gateway_ros2` (the default), unless the test is intentionally a core-only smoke test linking `gateway_core` directly.
-- **Flag** use of `ament_target_dependencies()` - use `medkit_target_dependencies()` instead (removed in Rolling).
+- **Flag** use of `ament_target_dependencies()` - use `medkit_target_dependencies()` instead (deprecated in Kilted, removed in ament_cmake 2.8.5+ which Lyrical ships).
 - **Flag** direct `find_package(yaml-cpp)` or `find_package(httplib)` - use `medkit_find_yaml_cpp()` / `medkit_find_cpp_httplib()` for multi-distro compatibility.
 
 ### Documentation

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,8 +15,8 @@ jobs:
         include:
           - ros_distro: humble
             os_image: ubuntu:jammy
-          - ros_distro: rolling
-            os_image: ubuntu:noble
+          - ros_distro: lyrical
+            os_image: ubuntu:resolute
     container:
       image: ${{ matrix.os_image }}
     timeout-minutes: 60
@@ -58,11 +58,12 @@ jobs:
           fi
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           rosdep update
-          # Linters (clang-tidy / clang-format) are gated to the Jazzy lint job
-          # in quality.yml, but multiple package.xml files still list them as
-          # <test_depend>. Their rosdep keys are not registered for noble
-          # (Rolling), which breaks rosdep install on that runner. Skip them
-          # on every distro this workflow targets - the linters never run here.
+          # Linters (clang-tidy / clang-format) only run in the Jazzy quality
+          # job (quality.yml). Multiple package.xml files still list them as
+          # <test_depend>, so we skip the rosdep keys here to keep build-and-
+          # test runners from pulling in linter packages they never use. Also
+          # defensive against transient binary-deb gaps on newly-released
+          # distros.
           rosdep install --from-paths src --ignore-src -y \
             --skip-keys "ament_cmake_clang_tidy ament_cmake_clang_format"
 
@@ -85,10 +86,11 @@ jobs:
           # FastRTPS 2.6 on Humble has a known use-after-free in the
           # discovery-teardown path (EDP::unpairWriterProxy) that segfaults
           # peer nodes when the gateway shuts down, so we force CycloneDDS
-          # there. Rolling + Jazzy ship a newer FastRTPS without that bug
-          # and hit a separate iceoryx-shared-memory crash under CycloneDDS
-          # during shutdown ("string capacity was zero for allocated data"),
-          # so on those distros we keep the default FastRTPS.
+          # there. Lyrical ships a newer FastRTPS without that bug and hits
+          # a separate iceoryx-shared-memory crash under CycloneDDS during
+          # shutdown ("string capacity was zero for allocated data"), so on
+          # Lyrical we keep the default FastRTPS. (Jazzy still uses
+          # CycloneDDS - see jazzy-test job below for its rationale.)
           RMW_IMPLEMENTATION: ${{ matrix.ros_distro == 'humble' && 'rmw_cyclonedds_cpp' || '' }}
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash

diff --git a/.github/workflows/docker-publish.yml b/.github/workflows/docker-publish.yml
@@ -18,7 +18,7 @@ jobs:
         strategy:
             fail-fast: false
             matrix:
-                ros_distro: [jazzy, humble, rolling]
+                ros_distro: [jazzy, humble, lyrical]
 
         steps:
             - name: Checkout repository

diff --git a/.github/workflows/opcua-plugin.yml b/.github/workflows/opcua-plugin.yml
@@ -43,9 +43,9 @@ jobs:
             os_image: ubuntu:jammy
           - ros_distro: jazzy
             os_image: ubuntu:noble
-          - ros_distro: rolling
-            os_image: ubuntu:noble
-    continue-on-error: ${{ matrix.ros_distro == 'rolling' }}
+          - ros_distro: lyrical
+            os_image: ubuntu:resolute
+    continue-on-error: ${{ matrix.ros_distro == 'lyrical' }}
     container:
       image: ${{ matrix.os_image }}
     timeout-minutes: 60
@@ -84,8 +84,8 @@ jobs:
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           rosdep update
           # Skip nav2_msgs (vda5050_agent declares it; not available on all
-          # distros) and the linter rosdep keys. The clang_format / clang_tidy
-          # keys are not registered for noble (Rolling), and the upstream
+          # distros) and the linter rosdep keys. Linters only run in the Jazzy
+          # quality job, so we don't need them installed here. The upstream
           # medkit packages have already been switched to QUIET + FOUND for
           # those find_package calls so the build degrades gracefully without
           # the linter packages installed.

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -107,7 +107,7 @@ Open `coverage_html/index.html` in your browser.
 
 #### CI/CD
 
-All PRs are tested on Ubuntu 24.04 (Jazzy) with parallel lint + test jobs, plus Humble and Rolling (allowed to fail). Coverage is uploaded to Codecov on push to main. All CI jobs use ccache.
+All PRs are tested on Ubuntu 24.04 (Jazzy) with parallel lint + test jobs, plus Humble and Lyrical. Coverage is uploaded to Codecov on push to main. All CI jobs use ccache.
 
 ### Pull Request Checklist
 

diff --git a/QUALITY_DECLARATION.md b/QUALITY_DECLARATION.md
@@ -86,7 +86,7 @@ GitHub Copilot code review is used in addition to human review.
 
 All pull requests must pass CI before merging:
 
-- **Build & Test job:** Full build + unit/integration tests on Ubuntu Noble / ROS 2 Jazzy, Ubuntu Jammy / ROS 2 Humble, and Ubuntu Noble / ROS 2 Rolling (best-effort, allow-failure). Linter tests on Jazzy only
+- **Build & Test job:** Full build + unit/integration tests on Ubuntu Noble / ROS 2 Jazzy, Ubuntu Jammy / ROS 2 Humble, and Ubuntu Resolute / ROS 2 Lyrical. Linter tests on Jazzy only
 - **Coverage job:** Debug build with coverage. Reports are generated for all PRs as artifacts and uploaded to [Codecov](https://codecov.io/gh/selfpatch/ros2_medkit) on pushes to `main`
 - Linting enforced: `clang-format`, `clang-tidy` via `ament_lint_auto`
 
@@ -203,9 +203,9 @@ Linter tests are enforced in CI on every pull request.
 
 - **Ubuntu 24.04 (Noble)** with **ROS 2 Jazzy** (primary)
 - **Ubuntu 22.04 (Jammy)** with **ROS 2 Humble**
-- **Ubuntu 24.04 (Noble)** with **ROS 2 Rolling** (experimental, best-effort)
+- **Ubuntu 26.04 (Resolute)** with **ROS 2 Lyrical** (newest LTS, released May 2026)
 
-Jazzy and Humble are the Tier 1 platforms per [REP-2000](https://www.ros.org/reps/rep-2000.html) and are tested in CI. Rolling is tested as best-effort (allow-failure) for forward-compatibility.
+Jazzy and Humble are Tier 1 LTS platforms per [REP-2000](https://www.ros.org/reps/rep-2000.html); Lyrical is the newest LTS (May 2026) and is also tested in CI.
 
 ---
 
@@ -234,7 +234,7 @@ Security issues can be reported via GitHub Security Advisories on the
 | Feature tests | Met | 65 tests across unit + integration |
 | Coverage | Met | 75% line coverage |
 | Linting | Met | clang-format, clang-tidy, ament_lint |
-| Platform support | Met | Ubuntu Noble / ROS 2 Jazzy + Ubuntu Jammy / ROS 2 Humble + Rolling (best-effort) |
+| Platform support | Met | Ubuntu Noble / ROS 2 Jazzy + Ubuntu Jammy / ROS 2 Humble + Ubuntu Resolute / ROS 2 Lyrical |
 | Security policy | Met | REP-2006 compliant |
 
 **Caveat:** Version is 0.3.0 (pre-1.0.0, requirement 1.ii). The REST API is versioned (`/api/v1/`)

diff --git a/README.md b/README.md
@@ -6,7 +6,7 @@
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](LICENSE)
 [![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-blue)](https://docs.ros.org/en/jazzy/)
 [![ROS 2 Humble](https://img.shields.io/badge/ROS%202-Humble-blue)](https://docs.ros.org/en/humble/)
-[![ROS 2 Rolling](https://img.shields.io/badge/ROS%202-Rolling-orange)](https://docs.ros.org/en/rolling/)
+[![ROS 2 Lyrical](https://img.shields.io/badge/ROS%202-Lyrical-blue)](https://docs.ros.org/en/lyrical/)
 [![Discord](https://img.shields.io/badge/Discord-Join%20Us-7289DA?logo=discord&logoColor=white)](https://discord.gg/6CXPMApAyq)
 [![Quality Level 3](https://img.shields.io/badge/Quality-Level%203-yellow)](QUALITY_DECLARATION.md)
 
@@ -42,7 +42,7 @@ cd selfpatch_demos/demos/turtlebot3_integration
 
 Open `http://localhost:3000` in your browser. You will see a TurtleBot3 with Nav2, organized into a browsable entity tree with live faults, topic data, and parameter access.
 
-**Build from source** (ROS 2 Jazzy, Humble, or Rolling):
+**Build from source** (ROS 2 Jazzy, Humble, or Lyrical):
 
 ```bash
 source /opt/ros/jazzy/setup.bash   # or humble - adjust for your distro
@@ -148,8 +148,8 @@ This entity model follows the **SOVD (Service-Oriented Vehicle Diagnostics)** st
 
 ## 📋 Requirements
 
-- **OS:** Ubuntu 24.04 LTS (Jazzy / Rolling) or Ubuntu 22.04 LTS (Humble)
-- **ROS 2:** Jazzy Jalisco, Humble Hawksbill, or Rolling (experimental)
+- **OS:** Ubuntu 26.04 LTS (Resolute, for Lyrical), Ubuntu 24.04 LTS (Noble, for Jazzy), or Ubuntu 22.04 LTS (Jammy, for Humble)
+- **ROS 2:** Jazzy Jalisco, Humble Hawksbill, or Lyrical Luth (LTS, released May 2026)
 - **Compiler:** GCC 11+ (C++17 support)
 - **Build System:** colcon + ament_cmake
 

diff --git a/docs/installation.rst b/docs/installation.rst
@@ -2,7 +2,7 @@ Installation
 ============
 
 This guide covers installation of ros2_medkit on Ubuntu 24.04 with ROS 2 Jazzy,
-Ubuntu 22.04 with ROS 2 Humble, or Ubuntu 24.04 with ROS 2 Rolling.
+Ubuntu 22.04 with ROS 2 Humble, or Ubuntu 26.04 with ROS 2 Lyrical.
 
 System Requirements
 -------------------
@@ -14,25 +14,25 @@ System Requirements
    * - Requirement
      - Version
    * - Operating System
-     - Ubuntu 24.04 LTS (Noble) or Ubuntu 22.04 LTS (Jammy)
+     - Ubuntu 26.04 LTS (Resolute), Ubuntu 24.04 LTS (Noble), or Ubuntu 22.04 LTS (Jammy)
    * - ROS 2 Distribution
-     - Jazzy, Humble, or Rolling
+     - Jazzy, Humble, or Lyrical
    * - C++ Compiler
      - GCC 11+ (C++17 support required)
    * - CMake
      - 3.22+
    * - Python
-     - 3.10+ (Humble) / 3.12+ (Jazzy / Rolling)
+     - 3.10+ (Humble) / 3.12+ (Jazzy) / 3.14+ (Lyrical)
 
 Prerequisites
 -------------
 
-**ROS 2 Jazzy, Humble, or Rolling** must be installed and sourced. Follow the official installation guide
+**ROS 2 Jazzy, Humble, or Lyrical** must be installed and sourced. Follow the official installation guide
 for your distribution:
 
 - Jazzy: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
 - Humble: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-- Rolling: https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debs.html
+- Lyrical: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
 
 .. note::
 
@@ -136,8 +136,8 @@ ROS 2 distributions:
    # Humble
    docker run -p 8080:8080 ghcr.io/selfpatch/ros2_medkit-humble:latest
 
-   # Rolling
-   docker run -p 8080:8080 ghcr.io/selfpatch/ros2_medkit-rolling:latest
+   # Lyrical
+   docker run -p 8080:8080 ghcr.io/selfpatch/ros2_medkit-lyrical:latest
 
 The gateway will be available at http://localhost:8080/api/v1/health.
 

diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst
@@ -219,7 +219,7 @@ parameter changes) only happen when explicitly requested via the API.
 
 **Q: Can I use ros2_medkit with ROS 1?**
 
-No. ros2_medkit requires ROS 2 (Jazzy, Humble, or Rolling). For ROS 1 systems, consider using
+No. ros2_medkit requires ROS 2 (Jazzy, Humble, or Lyrical). For ROS 1 systems, consider using
 the ``ros1_bridge`` and running ros2_medkit on the ROS 2 side.
 
 **Q: Is ros2_medkit production-ready?**

diff --git a/docs/tutorials/docker.rst b/docs/tutorials/docker.rst
@@ -33,8 +33,8 @@ Images are available for all supported ROS 2 distributions:
      - ``ghcr.io/selfpatch/ros2_medkit-jazzy:latest``
    * - Humble
      - ``ghcr.io/selfpatch/ros2_medkit-humble:latest``
-   * - Rolling
-     - ``ghcr.io/selfpatch/ros2_medkit-rolling:latest``
+   * - Lyrical
+     - ``ghcr.io/selfpatch/ros2_medkit-lyrical:latest``
 
 Each image includes the gateway and all open-core packages:
 

diff --git a/docs/tutorials/plugin-system.rst b/docs/tutorials/plugin-system.rst
@@ -271,7 +271,7 @@ providing access to gateway data and utilities:
      ``create_generic_subscription()``, or ``create_callback_group()``
      directly on this node. Issue #375 showed that concurrent rcl
      mutations on the gateway node race its internal hash map and
-     SIGSEGV under load on Rolling. The regression gate in
+     SIGSEGV under load on Rolling/Lyrical. The regression gate in
      ``scripts/check_no_naked_subscriptions.sh`` is run in CI and will
      fail PRs that add such calls outside the allowlist. Use
      ``ros2_medkit_gateway::ros2_common::Ros2SubscriptionSlot::create_typed``

diff --git a/scripts/check_no_naked_subscriptions.sh b/scripts/check_no_naked_subscriptions.sh
@@ -5,7 +5,8 @@
 # callback-group creation APIs from gateway and fault_manager code outside
 # `ros2_common/` is forbidden because it bypasses Ros2SubscriptionExecutor's
 # serial worker (or fault_manager's LockedSubscriptionGuard) and reintroduces
-# the rcl hash-map race that triggered SIGSEGV on Rolling.
+# the rcl hash-map race that triggered SIGSEGV on Rolling (still applicable
+# on Lyrical and any future distro that ships the same rcl hash-map code).
 #
 # Callers in the gateway must go through:
 #   ros2_medkit_gateway::ros2_common::Ros2SubscriptionSlot::create_typed / create_generic

diff --git a/src/ros2_medkit_cmake/README.md b/src/ros2_medkit_cmake/README.md
@@ -9,15 +9,15 @@ build acceleration, and centralized linting configuration across all packages.
 |--------|-------------|
 | `ROS2MedkitCcache.cmake` | Auto-detect and configure ccache with PCH-aware sloppiness settings |
 | `ROS2MedkitLinting.cmake` | Centralized clang-tidy configuration (opt-in locally, mandatory in CI) |
-| `ROS2MedkitCompat.cmake` | Multi-distro compatibility shims for ROS 2 Humble, Jazzy, and Rolling |
+| `ROS2MedkitCompat.cmake` | Multi-distro compatibility shims for ROS 2 Humble, Jazzy, and Lyrical |
 
 ### ROS2MedkitCompat
 
 Resolves dependency differences across ROS 2 distributions:
 
 - `medkit_find_yaml_cpp()` - Finds yaml-cpp (namespaced targets on Jazzy, manual fallback on Humble)
 - `medkit_find_cpp_httplib()` - Finds cpp-httplib >= 0.14 via pkg-config, CMake config, or vendored fallback (`VENDORED_DIR` param)
-- `medkit_target_dependencies()` - Drop-in replacement for `ament_target_dependencies` (removed on Rolling)
+- `medkit_target_dependencies()` - Drop-in replacement for `ament_target_dependencies` (removed on Lyrical)
 - `medkit_detect_compat_defs()` / `medkit_apply_compat_defs()` - Compile definitions for version-specific APIs
 
 ## Usage

diff --git a/src/ros2_medkit_cmake/cmake/ROS2MedkitCompat.cmake b/src/ros2_medkit_cmake/cmake/ROS2MedkitCompat.cmake
@@ -17,7 +17,7 @@
 # =============================================================================
 #
 # Centralizes all dependency resolution workarounds for supporting multiple
-# ROS 2 distributions (Humble, Jazzy, Rolling) in a single place.
+# ROS 2 distributions (Humble, Jazzy, Lyrical) in a single place.
 #
 # Usage (in each package's CMakeLists.txt):
 #   find_package(ros2_medkit_cmake REQUIRED)
@@ -31,7 +31,7 @@
 #   medkit_target_dependencies(target ...) - Drop-in ament_target_dependencies replacement
 #
 # Variables set by medkit_detect_compat_defs():
-#   MEDKIT_RCLCPP_VERSION_MAJOR     — integer (e.g., 16 for Humble, 28 for Jazzy)
+#   MEDKIT_RCLCPP_VERSION_MAJOR     — integer (16=Humble, 28=Jazzy, 32+=Lyrical)
 #   MEDKIT_ROSBAG2_OLD_TIMESTAMP    — ON if rosbag2_storage < 0.22.0 (Humble)
 #
 
@@ -40,9 +40,11 @@ include_guard(GLOBAL)
 # ---------------------------------------------------------------------------
 # medkit_find_yaml_cpp()
 # ---------------------------------------------------------------------------
-# Jazzy's yaml_cpp_vendor exports a namespaced yaml-cpp::yaml-cpp cmake target.
-# Humble's yaml_cpp_vendor bundles yaml-cpp but does NOT export the cmake target.
-# This macro creates an IMPORTED INTERFACE target when find_package doesn't.
+# Jazzy's and Lyrical's yaml_cpp_vendor export a namespaced yaml-cpp::yaml-cpp
+# cmake target (Jazzy directly; Lyrical via its Findyaml-cpp.cmake module that
+# aliases the upstream yaml-cpp 0.8+ target). Humble's yaml_cpp_vendor bundles
+# yaml-cpp but does NOT export the cmake target. This macro creates an IMPORTED
+# INTERFACE target when find_package doesn't.
 #
 # Prerequisite: find_package(yaml_cpp_vendor REQUIRED) must be called before.
 # ---------------------------------------------------------------------------
@@ -120,7 +122,7 @@ endmacro()
 # Call AFTER find_package(rclcpp) and optionally find_package(rosbag2_storage).
 #
 # Sets:
-#   MEDKIT_RCLCPP_VERSION_MAJOR  — integer (16=Humble, 21+=Iron, 28+=Jazzy)
+#   MEDKIT_RCLCPP_VERSION_MAJOR  — integer (16=Humble, 21+=Iron, 28+=Jazzy, 32+=Lyrical)
 #   MEDKIT_ROSBAG2_OLD_TIMESTAMP — ON if rosbag2_storage < 0.22.0 (Humble)
 # ---------------------------------------------------------------------------
 macro(medkit_detect_compat_defs)
@@ -166,11 +168,14 @@ endfunction()
 # ---------------------------------------------------------------------------
 # medkit_target_dependencies(target [PUBLIC|PRIVATE|INTERFACE] dep1 dep2 ...)
 # ---------------------------------------------------------------------------
-# Drop-in replacement for ament_target_dependencies that works on Rolling
-# (where ament_target_dependencies was removed from ament_cmake).
+# Drop-in replacement for ament_target_dependencies that works on Lyrical
+# (ament_target_dependencies was deprecated in Kilted / ament_cmake 2.7.3
+# and removed in ament_cmake 2.8.5+, which Lyrical ships).
 #
 # On Humble/Jazzy: delegates to ament_target_dependencies (available).
-# On Rolling:      uses target_link_libraries with ${dep_TARGETS}.
+# On Lyrical:      uses target_link_libraries with ${dep_TARGETS}.
+# The branch is selected at runtime via if(COMMAND ament_target_dependencies)
+# so any future distro keeps working regardless of where the removal lands.
 #
 # When no visibility keyword (PUBLIC/PRIVATE/INTERFACE) is passed, the macro
 # uses the plain target_link_libraries signature. This avoids conflicts with
@@ -185,7 +190,7 @@ macro(medkit_target_dependencies target)
   if(COMMAND ament_target_dependencies)
     ament_target_dependencies(${target} ${ARGN})
   else()
-    # Rolling fallback: resolve dependency targets explicitly.
+    # Lyrical fallback: resolve dependency targets explicitly.
     #
     # CMake forbids mixing the "plain" and "keyword" (PUBLIC/PRIVATE/INTERFACE)
     # signatures of target_link_libraries on the same target.

diff --git a/src/ros2_medkit_cmake/design/index.rst b/src/ros2_medkit_cmake/design/index.rst
@@ -41,7 +41,7 @@ The package provides four CMake modules installed to the ament index:
    - ``medkit_find_cpp_httplib()`` - Finds cpp-httplib >= 0.14 via pkg-config, cmake config, or vendored fallback (``VENDORED_DIR`` param)
    - ``medkit_detect_compat_defs()`` - Detects rclcpp and rosbag2 versions, sets ``MEDKIT_RCLCPP_VERSION_MAJOR`` and ``MEDKIT_ROSBAG2_OLD_TIMESTAMP``
    - ``medkit_apply_compat_defs(target)`` - Applies compile definitions based on detected versions
-   - ``medkit_target_dependencies(target ...)`` - Drop-in replacement for ``ament_target_dependencies`` that also works on Rolling (where ``ament_target_dependencies`` was removed)
+   - ``medkit_target_dependencies(target ...)`` - Drop-in replacement for ``ament_target_dependencies`` that also works on Lyrical (where ``ament_target_dependencies`` was removed)
 
 Design Decisions
 ----------------
@@ -60,5 +60,5 @@ Multi-Distro Strategy
 
 Rather than maintaining separate branches per ROS 2 distribution, the compat
 module detects version numbers at configure time and adapts. This keeps a single
-source tree building on Humble, Jazzy, and Rolling without ``#ifdef`` proliferation
+source tree building on Humble, Jazzy, and Lyrical without ``#ifdef`` proliferation
 in application code.