feat: ros2 lyrical extension (core26)

docs/how-to/integrations/craft-an-ros-2-app.rst

@@ -8,7 +8,7 @@ unique when crafting a `ROS 2 <https://docs.ros.org/en/rolling/index.html>`__-ba
 snap. We'll work through the aspects unique to ROS 2 apps by examining an existing
 project.
 
-There are four supported bases for ROS 2 -- core24, core22, core20, and core18.
+There are five supported bases for ROS 2 -- core26, core24, core22, core20, and core18.
 
 
 .. _how-to-craft-an-ros-2-app-project-files:
@@ -20,8 +20,8 @@ Example project file for ROS 2 Talker/Listener
 
     .. tab-item:: core18
 
-        The following code comprises the project file for the `core18 version of ROS 2
-        Talker/Listener <https://github.com/snapcraft-docs/ros2-talker-listener>`_.
+        The following code comprises the `snapcraft.yaml` file for the core18 version
+        of a ROS 2 Talker/Listener.
 
         .. dropdown:: Code
 
@@ -53,8 +53,8 @@ Example project file for ROS 2 Talker/Listener
     .. tab-item:: core20
         :sync: core20
 
-        The following code comprises the project file for the `core20 version of ROS 2
-        Talker/Listener <https://github.com/snapcraft-docs/ros2-talker-listener-core20>`_.
+        The following code comprises the `snapcraft.yaml` file for the core20 version
+        of a ROS 2 Talker/Listener.
 
         .. dropdown:: Code
 
@@ -86,8 +86,8 @@ Example project file for ROS 2 Talker/Listener
     .. tab-item:: core22
         :sync: core22
 
-        The following code comprises the project file for the `core22 version of ROS 2
-        Talker/Listener <https://github.com/snapcraft-docs/ros2-talker-listener-core22>`_.
+        The following code comprises the `snapcraft.yaml` file for the core22 version
+        of a ROS 2 Talker/Listener.
 
         .. dropdown:: Code
 
@@ -119,8 +119,8 @@ Example project file for ROS 2 Talker/Listener
     .. tab-item:: core24
         :sync: core24
 
-        The following code comprises the project file for the `core24 version of ROS 2
-        Talker/Listener <https://github.com/snapcraft-docs/ros2-talker-listener-core20>`_.
+        The following code comprises the `snapcraft.yaml` file for the core24 version
+        of a ROS 2 Talker/Listener.
 
         .. dropdown:: Code
 
@@ -149,8 +149,40 @@ Example project file for ROS 2 Talker/Listener
                     command: ros2 launch demo_nodes_cpp talker_listener.launch.py
                     extensions: [ros2-jazzy]
 
+    .. tab-item:: core26
+        :sync: core26
 
-Add an ROS 2 app
+        The following code comprises the `snapcraft.yaml` file for the core26 version
+        of a ROS 2 Talker/Listener.
+
+        .. dropdown:: Code
+
+            .. code-block:: yaml
+                :caption: snapcraft.yaml
+
+                name: ros2-talker-listener
+                version: '0.1'
+                summary: ROS 2 Talker/Listener Example
+                description: |
+                  This example launches a ROS 2 talker and listener.
+
+                confinement: devmode
+                base: core26
+
+                parts:
+                  ros-demos:
+                    plugin: colcon
+                    source: https://github.com/ros2/demos.git
+                    source-branch: lyrical
+                    source-subdir: demo_nodes_cpp
+                    stage-packages: [ros-lyrical-ros2launch]
+
+                apps:
+                  ros2-talker-listener:
+                    command: ros2 launch demo_nodes_cpp talker_listener.launch.py
+                    extensions: [ros2-lyrical]
+
+Add a ROS 2 app
 ----------------
 
 ROS 2 apps depend on special extensions that initialize the build- and run-time
@@ -174,6 +206,8 @@ To add an ROS 2 app:
         - :ref:`ros2-humble <reference-ros-2-extensions>`
       * - core24
         - :ref:`ros2-jazzy <reference-ros-2-extensions>`
+      * - core26
+        - :ref:`ros2-lyrical <reference-ros-2-extensions>`
 
 
 Add a part written for ROS 2
@@ -207,6 +241,8 @@ To add an ROS 2 part:
         - ros-humble-ros2launch
       * - core24
         - ros-jazzy-ros2launch
+      * - core26
+        - ros-lyrical-ros2launch
 
 
 Handle build issues
@@ -225,7 +261,7 @@ false positives. These libraries are build time dependencies only.
 Share content between ROS 2 snaps
 ---------------------------------
 
-The core20, core22 and core24 bases also offer the option to build your ROS snap using
+The core20, core22, core24 and core26 bases also offer the option to build your ROS snap using
 the `content-sharing interface <https://snapcraft.io/docs/content-interface>`_. It
 shares the ROS 2 content packages across multiple snaps, saving space and ensuring
 package consistency throughout your snap build environment.
@@ -284,6 +320,21 @@ difference in the project file when content sharing is enabled:
             -   extensions: [ros2-jazzy]
             +   extensions: [ros2-jazzy-ros-base]
 
+    .. tab-item:: core26
+        :sync: core26
+
+        .. code-block:: diff
+            :caption: snapcraft.yaml
+
+            source-subdir: demo_nodes_cpp
+            -  stage-packages: [ros-lyrical-ros2launch]
+
+            apps:
+              ros2-talker-listener:
+                command: ros2 launch demo_nodes_cpp talker_listener.launch.py
+            -   extensions: [ros2-lyrical]
+            +   extensions: [ros2-lyrical-ros-base]
+
 To turn on content sharing:
 
 #. Remove the ``stage-packages`` key from the part. The package is already available in
@@ -302,6 +353,8 @@ To turn on content sharing:
         - :ref:`ros2-humble-ros-base <reference-ros-2-content-extensions>`
       * - core24
         - :ref:`ros2-jazzy-ros-base <reference-ros-2-content-extensions>`
+      * - core26
+        - :ref:`ros2-lyrical-ros-base <reference-ros-2-content-extensions>`
 
 
 Because the snap makes use of the content provided by another snap, you must connect

docs/reference/extensions/code/ros-2-lyrical-extension-talker-listener-expanded.diff

@@ -0,0 +1,74 @@
+# Diff between snapcraft.yaml and `snapcraft expand-extensions`, showing the differences
+# that the ROS 2 Lyrical extension applies to a project file.
+ name: ros2-talker-listener
+ version: "0.1"
+ summary: ROS 2 Talker/Listener Example
+ description: |
+   This example launches a ROS 2 talker and listener.
+
+ confinement: devmode
+ base: core26
+
+ parts:
+   ros-demos:
+     plugin: colcon
+     source: https://github.com/ros2/demos.git
+     source-branch: lyrical
+     source-subdir: demo_nodes_cpp
+     stage-packages:
+       - ros-lyrical-ros2launch
++    build-environment:
++      - ROS_VERSION: "2"
++      - ROS_DISTRO: lyrical
++  ros2-lyrical/ros2-launch:
++    source: /snap/snapcraft/current/share/snapcraft/extensions/ros2
++    plugin: make
++    build-packages:
++      - ros-lyrical-ros-environment
++      - ros-lyrical-ros-workspace
++      - ros-lyrical-ament-index-cpp
++      - ros-lyrical-ament-index-python
+
+ apps:
+   ros2-talker-listener:
+     command: ros2 launch demo_nodes_cpp talker_listener.launch.py
+-    extensions:
+-      - ros2-lyrical
++    environment:
++      ROS_VERSION: "2"
++      ROS_DISTRO: lyrical
++      PYTHONPATH: $SNAP/opt/ros/lyrical/lib/python3.14/site-packages:$SNAP/usr/lib/python3/dist-packages:${PYTHONPATH}
++      ROS_HOME: $SNAP_USER_DATA/ros
++    command-chain:
++      - snap/command-chain/ros2-launch
++
++package-repositories:
++  - type: apt
++    url: http://packages.ros.org/ros2/ubuntu
++    components:
++      - main
++    formats:
++      - deb
++    key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
++    key-server: keyserver.ubuntu.com
++    suites:
++      - resolute
++
++lint:
++  ignore:
++    - unused-library:
++        - opt/ros/*
++        - lib/*/libcrypt.so*
++        - lib/*/libexpat.so*
++        - lib/*/libtirpc.so*
++        - lib/*/libz.so*
++        - usr/lib/*libatomic.so*
++        - usr/lib/*libconsole_bridge.so*
++        - usr/lib/*libfmt.so*
++        - usr/lib/*libicui18n.so*
++        - usr/lib/*libicuio.so*
++        - usr/lib/*libicutest.so*
++        - usr/lib/*libicutu.so*
++        - usr/lib/*libpython3.14.so*
++        - usr/lib/*libspdlog.so*
++        - usr/lib/*libtinyxml2.so*

docs/reference/extensions/ros-2-content-extensions.rst

@@ -29,6 +29,12 @@ with the format ``ros2-<version>-<metapackage>``. The available extensions are:
         - ``ros2-jazzy-ros-base``
         - ``ros2-jazzy-desktop``
 
+    .. tab-item:: ROS 2 Lyrical
+
+        - ``ros2-lyrical-ros-core``
+        - ``ros2-lyrical-ros-base``
+        - ``ros2-lyrical-desktop``
+
 These extensions require Snapcraft 8 and higher, and are experimental.
 
 

docs/reference/extensions/ros-2-extensions.rst

@@ -7,7 +7,7 @@ ROS 2 extensions
 The ROS 2 extensions, helps fill in common settings for software built with the  `ROS 2
 <https://ros.org>`_ libraries.
 
-There are three extensions in this family, each for a different version of ROS 2.
+There are four extensions in this family, each for a different version of ROS 2.
 
 .. list-table::
 
@@ -31,9 +31,14 @@ There are three extensions in this family, each for a different version of ROS 2
       - :ref:`ROS 2 Jazzy Jalisco <reference-ros-2-content-extensions>`
       - core24
 
+    * - ROS 2 Lyrical
+      - ``ros2-lyrical``
+      - :ref:`ROS 2 Lyrical Luth <reference-ros-2-content-extensions>`
+      - core26
+
         :ref:`Experimental extensions enabled <how-to-enable-experimental-extensions>`
 
-All three extensions require Snapcraft 7.3 or higher.
+All four extensions require Snapcraft 7.3 or higher.
 
 
 Included parts
@@ -69,7 +74,7 @@ The extension adds its own part to the project, which pulls in the ROS 2 build p
                 :caption: snapcraft.yaml
 
                 ros2-humble/ros2-launch:
-                  source: /snap/snapcraft/13181/share/snapcraft/extensions/ros2
+                  source: /snap/snapcraft/current/share/snapcraft/extensions/ros2
                   plugin: make
                   build-packages:
                     - ros-humble-ros-environment
@@ -86,14 +91,31 @@ The extension adds its own part to the project, which pulls in the ROS 2 build p
                 :caption: snapcraft.yaml
 
                 ros2-jazzy/ros2-launch:
-                  source: /snap/snapcraft/13181/share/snapcraft/extensions/ros2
+                  source: /snap/snapcraft/current/share/snapcraft/extensions/ros2
                   plugin: make
                   build-packages:
                     - ros-jazzy-ros-environment
                     - ros-jazzy-ros-workspace
                     - ros-jazzy-ament-index-cpp
                     - ros-jazzy-ament-index-python
 
+    .. tab-item:: ROS 2 Lyrical
+        :sync: lyrical
+
+        .. dropdown:: Included parts
+
+            .. code-block:: yaml
+                :caption: snapcraft.yaml
+
+                ros2-lyrical/ros2-launch:
+                  source: /snap/snapcraft/current/share/snapcraft/extensions/ros2
+                  plugin: make
+                  build-packages:
+                    - ros-lyrical-ros-environment
+                    - ros-lyrical-ros-workspace
+                    - ros-lyrical-ament-index-cpp
+                    - ros-lyrical-ament-index-python
+
 
 Included build environment variables
 ------------------------------------
@@ -139,6 +161,18 @@ variables.
                   - ROS_VERSION: "2"
                   - ROS_DISTRO: jazzy
 
+    .. tab-item:: ROS 2 Lyrical
+        :sync: lyrical
+
+        .. dropdown:: Included build environment variables
+
+            .. code-block:: yaml
+                :caption: snapcraft.yaml
+
+                build-environment:
+                  - ROS_VERSION: "2"
+                  - ROS_DISTRO: lyrical
+
 
 Included runtime environment settings
 -------------------------------------
@@ -197,6 +231,22 @@ ROS 2 before launching the app, similar to sourcing the typical ROS 2
                 command-chain:
                   - snap/command-chain/ros2-launch
 
+    .. tab-item:: ROS 2 Lyrical
+        :sync: lyrical
+
+        .. dropdown:: Included runtime environment settings
+
+            .. code-block:: yaml
+                :caption: snapcraft.yaml
+
+                environment:
+                  ROS_VERSION: "2"
+                  ROS_DISTRO: lyrical
+                  PYTHONPATH: $SNAP/opt/ros/lyrical/lib/python3.14/site-packages:$SNAP/usr/lib/python3/dist-packages:${PYTHONPATH}
+                  ROS_HOME: $SNAP_USER_DATA/ros
+                command-chain:
+                  - snap/command-chain/ros2-launch
+
 
 Included package repositories
 -----------------------------
@@ -267,6 +317,26 @@ installs the necessary GPG key.
                     suites:
                       - noble
 
+    .. tab-item:: ROS 2 Lyrical
+        :sync: lyrical
+
+        .. dropdown:: Included package repositories
+
+            .. code-block:: yaml
+                :caption: snapcraft.yaml
+
+                package-repositories:
+                  - type: apt
+                    url: http://packages.ros.org/ros2/ubuntu
+                    components:
+                      - main
+                    formats:
+                      - deb
+                    key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+                    key-server: keyserver.ubuntu.com
+                    suites:
+                      - resolute
+
 
 Example expanded project file
 -----------------------------
@@ -313,3 +383,13 @@ The files are based on the :ref:`ros2-talker-listener
                 :language: diff
                 :lines: 3-
                 :emphasize-lines: 18-28, 33-41, 43-53
+
+    .. tab-item:: ROS 2 Lyrical
+        :sync: lyrical
+
+        .. dropdown:: Expanded project file for ros2-talker-listener
+
+            .. literalinclude:: code/ros-2-lyrical-extension-talker-listener-expanded.diff
+                :language: diff
+                :lines: 3-
+                :emphasize-lines: 18-28, 33-41, 43-53