feat: Add ROS 2 Lyrical support - #191
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hippo5329
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Aug 17, 2026
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- Add lyrical development and MCU repositories to Sources
- Add lyrical package ignore list
- Add source compatibility patches for ROS 2 Lyrical (ament_cmake macro, rcutils threading, rosidl_buffer no-exceptions, rcl_timer_init2, rclc_lifecycle clock parameter)
- Add portenta_h7_m7_lyrical test environment to ci/platformio.ini and .github/workflows/ci.yml
- Update README.md with lyrical distribution
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- Add ROS 2 Lyrical dev and MCU environment package configurations - Add portenta_h7_m7_lyrical test environment and matrix workflow entry - Add C/C++ build patches for modern ROS 2 APIs: * rclc: rcl_timer_init2 adaptation with backward compatibility macros * rclc_lifecycle: initialize clock in rcl_lifecycle_state_machine_init * rcutils: RCUTILS_NO_THREAD_SUPPORT guards for base64 map * rosidl_buffer: C++11/14 std::is_same value compatibility and -fno-exceptions guards * ament_cmake_ros: ignore test fixture packages during dev environment build - Guard optional extra_packages folder in library_builder - Cleanly un-nest modern ROS 2 include directories in package_mcu_library() - Forward SCons toolchain environment in extra_script.py for seamless cross-compilation
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