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‎.github/actions/setup-ros2-apt/action.yml‎

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name: 'Setup ROS2 apt repository'
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description: >-
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Enable the official ros-apt-source repository (and common build deps) on
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Ubuntu, and optionally install the Lyrical Luth desktop. Shared by the
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build-and-test and ASan workflows so the lyrical/rolling apt setup lives in
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one place.
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inputs:
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install-desktop:
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description: >-
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When 'true' (default) install ros-lyrical-desktop. Set to 'false' to only
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enable the apt repository and build deps (e.g. the rolling lane installs
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ROS2 from a binary tarball after this action runs).
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required: false
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default: 'true'
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runs:
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using: 'composite'
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steps:
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- name: Enable ROS2 apt repository
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shell: bash
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run: |
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apt-get update
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apt-get install -y sudo software-properties-common curl
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# Enable required repositories. The same setup applies to both the
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# rolling nightly tarball and the lyrical apt-deb install; see the
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# per-distro install docs for reference:
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# rolling: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html
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# lyrical: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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add-apt-repository universe
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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 $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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# Common build deps for both rolling and lyrical. Rolling-only tarball
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# tooling (tar, bzip2, python3-rosdep) is installed by the caller so the
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# lyrical lane stays minimal.
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apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
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- name: Install ROS2 from apt (lyrical)
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if: ${{ inputs.install-desktop == 'true' }}
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shell: bash
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run: |
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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apt-get install -y ros-lyrical-desktop

‎.github/workflows/linux-x64-asan-test.yml‎

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node-version: 24.X
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architecture: x64
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- name: Enable ROS2 apt repository (lyrical)
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run: |
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# ros-tooling/setup-ros does not support lyrical yet, so install from
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# the official apt repo as documented at
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# https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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apt-get update
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apt-get install -y sudo software-properties-common curl
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add-apt-repository universe
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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 $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
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- uses: actions/checkout@v6
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- name: Install ROS2 from apt (lyrical)
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run: |
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apt-get install -y ros-lyrical-desktop
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- name: Setup ROS2 Lyrical from apt
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# ros-tooling/setup-ros does not support lyrical yet, so the shared
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# composite action installs it from the official apt repo. See
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# https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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uses: ./.github/actions/setup-ros2-apt
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- name: Install test dependencies
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run: |
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sudo apt install -y ros-lyrical-test-msgs ros-lyrical-mrpt-msgs
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- uses: actions/checkout@v6
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- name: Install npm dependencies
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run: |
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source /opt/ros/lyrical/setup.bash

‎.github/workflows/linux-x64-build-and-test.yml‎

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node-version: ${{ matrix.node-version }}
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architecture: ${{ matrix.architecture }}
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# Checkout early so the local composite action under .github/actions is
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# available to the rolling / lyrical apt setup step below.
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- uses: actions/checkout@v6
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- name: Setup ROS2
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if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
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uses: ros-tooling/setup-ros@v0.7
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- name: Enable ROS2 apt repository (rolling / lyrical)
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if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
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run: |
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apt-get update
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apt-get install -y sudo software-properties-common curl
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# Enable required repositories. The same setup applies to both the
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# rolling nightly tarball and the lyrical apt-deb install; see the
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# per-distro install docs for reference:
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# rolling: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html
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# lyrical: https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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add-apt-repository universe
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ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
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dpkg -i /tmp/ros2-apt-source.deb
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apt-get update
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# Common build deps for both rolling and lyrical. Rolling-only tarball
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# tooling (tar, bzip2, python3-rosdep) is installed in the rolling step
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# below so the lyrical lane stays minimal.
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apt-get install -y build-essential cmake python3 python3-colcon-common-extensions
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- name: Install ROS2 from apt (lyrical)
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if: ${{ matrix.ros_distribution == 'lyrical' }}
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run: |
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# Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
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apt-get install -y ros-lyrical-desktop
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uses: ./.github/actions/setup-ros2-apt
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with:
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# Lyrical installs the desktop from apt here; rolling only needs the
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# repository enabled and installs ROS2 from a tarball in the next step.
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install-desktop: ${{ matrix.ros_distribution == 'lyrical' }}
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- name: Install ROS2 from binary tarball (rolling)
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if: ${{ matrix.ros_distribution == 'rolling' }}
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fi
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sudo apt install -y xvfb libgtk-3-0 libnss3 $LIBASOUND_PKG libgbm-dev
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- uses: actions/checkout@v6
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# The mocha suite and the Electron postinstall (extract-zip 2.0.1) are
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# known to be intermittently flaky on this runner. Wrap both test
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# invocations in nick-fields/retry@v4 so a single transient failure does

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