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Highlight ROS Lyrical changes with examples#6765

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sloretz__lyrical_highlights
May 15, 2026
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Highlight ROS Lyrical changes with examples#6765
ahcorde merged 34 commits into
rollingfrom
sloretz__lyrical_highlights

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@sloretz sloretz commented May 15, 2026 •
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Description

This PR highlights new features in ROS Lyrical. I tried to include a reason for using the feature and an example.

I vibe coded a script to diff Kilted and Lyrical, manually curated a list of interesting changes in google sheets, organized them in an outline in a google doc, and then wrote up nice descriptions for each of them. This took a bit of time, but I enjoyed learning and trying out everything new in Lyrical.

I deleted some of the existing changelog entries that subjectively I didn't think I could write a good example for. I'm relying on the full Lyrical changelog to fill the gaps.

Did you use Generative AI?

Yeah. I used a lot of gemini for proof reading and minimizing examples. I ran everything myself to make sure the code is correct though.

Additional Information

I haven't tried rendering the docs at all. Hope it works 🤞

sloretz added 30 commits May 14, 2026 00:02
@sloretz
Imported outline plus wrote Callback Group Events Executor section
2cbdf4e 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Describe array range constraint checking
4a1e10d 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Add AsyncNode highlight
df99ae0 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Doc YAML tags
3361866 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
New log actions
4afb22a 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Remove DeclareBooleanLaunchArgument from highlights
0b83a30 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Document new substitutions in launch files
f3a7522 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Don't highlight composable_lifecycle_node in frontend
a3c9718 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Log implementation docs
56b12a7 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
rosidl::Buffer highlight
7d97796 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Content filtering is not new to lyrical
807ada2 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Remove empty headings
e1b56af 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Control recording remotely
08a9027 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Document fish shell
0bab35d 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
rosbag python APIs
3a38305 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
circular recording and descriptive bag names
ab349a8 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Message loss observability
18ff7df 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
ros2 param features
a636e81 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
ros2 doctor --report improvements
101fe61 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
ros2 service info --verbose docs
f650080 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Document ros2 topic bw improvements
694881a 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
URDF improvements
63aab33 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
robot_state_publisher
b2ea21b 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Document resource retriever service
550274b 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
ament_python_install_package multiple times
c6d25ce 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
ament_ros_defaults
be9c88e 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
client and service info APIs
9baf4b1 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Thread naming utils
d29a36f 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
rcutils additions
abd3d2a 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Add rcl changes
cdd7905 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
AI proof reading
4e5a07f 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz sloretz requested a review from kscottz May 15, 2026 01:14
@sloretz sloretz self-assigned this May 15, 2026
sloretz and others added 3 commits May 15, 2026 01:19
@sloretz
Misc fixes
26bca04 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Another fix
af9d373 
Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
@sloretz
Merge branch 'rolling' into sloretz__lyrical_highlights
e3f431d
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github-actions Bot commented May 15, 2026 •
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HTML artifacts: https://github.com/ros2/ros2_documentation/actions/runs/25895117668/artifacts/7008349746.

To view the resulting site:

  1. Click on the above link to download the artifacts archive
  2. Extract it
  3. Open html-artifacts-6765/index.html in your favorite browser

fujitatomoya
fujitatomoya approved these changes May 15, 2026
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lgtm 👍

@ahcorde ahcorde added the backport-all backport at reviewers discretion; from rolling to all versions label May 15, 2026
@ahcorde ahcorde merged commit 5c6892f into rolling May 15, 2026
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@ahcorde ahcorde deleted the sloretz__lyrical_highlights branch May 15, 2026 07:49
This was referenced May 15, 2026
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ahcorde added a commit that referenced this pull request May 15, 2026
@mergify @sloretz @ahcorde
Highlight ROS Lyrical changes with examples (backport #6765) (#6777)
7873818 
(cherry picked from commit 5c6892f)
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Shane Loretz <shane.loretz@gmail.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
ahcorde added a commit that referenced this pull request May 15, 2026
@mergify @sloretz @ahcorde
Highlight ROS Lyrical changes with examples (backport #6765) (#6778)
8395071 
(cherry picked from commit 5c6892f)
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Shane Loretz <shane.loretz@gmail.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
ahcorde added a commit that referenced this pull request May 15, 2026
@mergify @sloretz @ahcorde
Highlight ROS Lyrical changes with examples (backport #6765) (#6779)
c1daa2f 
(cherry picked from commit 5c6892f)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Shane Loretz <shane.loretz@gmail.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
ahcorde added a commit that referenced this pull request May 15, 2026
@mergify @sloretz @ahcorde
Highlight ROS Lyrical changes with examples (backport #6765) (#6780)
ad4e888 
(cherry picked from commit 5c6892f)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Shane Loretz <shane.loretz@gmail.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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@ahcorde ahcorde ahcorde approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

@kscottz kscottz Awaiting requested review from kscottz

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