From d9b8e44695a0e2215e15d1aa2bc9ed5dbb5ab87d Mon Sep 17 00:00:00 2001
From: flipflip <flipflip@fixposition.com>
Date: Mon, 3 Aug 2026 21:38:23 +0200
Subject: [PATCH] Add ROS2 Lyrical docker images and CI

---
 .devcontainer/.bashrc                   |  2 +-
 .devcontainer/helper.sh                 |  2 +-
 .devcontainer/lyrical/Dockerfile        | 12 +++++
 .devcontainer/lyrical/devcontainer.json | 52 +++++++++++++++++++
 .github/workflows/ci.yml                | 17 +++++++
 CHANGELOG.md                            | 68 -------------------------
 README.md                               |  3 --
 create_ros_ws.sh                        |  2 +-
 fixposition-sdk                         |  2 +-
 fixposition_driver.code-workspace       |  2 +-
 setup_ros_ws.sh                         |  2 +-
 11 files changed, 87 insertions(+), 77 deletions(-)
 create mode 100644 .devcontainer/lyrical/Dockerfile
 create mode 100644 .devcontainer/lyrical/devcontainer.json
 delete mode 100644 CHANGELOG.md

diff --git a/.devcontainer/.bashrc b/.devcontainer/.bashrc
index e602d262..e935b7cd 100644
--- a/.devcontainer/.bashrc
+++ b/.devcontainer/.bashrc
@@ -162,7 +162,7 @@ if [ -n "${ROS_DISTRO}" ]; then
     # export RCUTILS_LOGGING_USE_STDOUT=1
     export RCUTILS_COLORIZED_OUTPUT=1
     case "${ROS_DISTRO}" in
-        jazzy|rolling)
+        jazzy|lyrical|rolling)
             export RCUTILS_CONSOLE_OUTPUT_FORMAT="{severity} {date_time_with_ms} {name} - {message}"
             ;;
         *)
diff --git a/.devcontainer/helper.sh b/.devcontainer/helper.sh
index 3719d3bc..ad7d6894 100755
--- a/.devcontainer/helper.sh
+++ b/.devcontainer/helper.sh
@@ -15,7 +15,7 @@ case ${command} in
                     ${containerWorkspaceFolder}/create_ros_ws.sh -d ros1_ws
                 fi
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 if [ ! -d ${containerWorkspaceFolder}/ros2_ws ]; then
                     ${containerWorkspaceFolder}/create_ros_ws.sh -d ros2_ws
                 fi
diff --git a/.devcontainer/lyrical/Dockerfile b/.devcontainer/lyrical/Dockerfile
new file mode 100644
index 00000000..50b8559e
--- /dev/null
+++ b/.devcontainer/lyrical/Dockerfile
@@ -0,0 +1,12 @@
+FROM ghcr.io/fixposition/fixposition-sdk:lyrical-dev
+
+# RUN <<EOF
+#     # Install additional packages
+#     set -e
+#     export DEBIAN_FRONTEND=noninteractive
+#     apt-get -y update
+#     apt-get -y --with-new-pkgs upgrade
+#     apt-get -y --no-install-recommends install some-package another-package ...
+#     apt-get -y autoremove
+#     apt-get clean
+# EOF
diff --git a/.devcontainer/lyrical/devcontainer.json b/.devcontainer/lyrical/devcontainer.json
new file mode 100644
index 00000000..7cfdf9fe
--- /dev/null
+++ b/.devcontainer/lyrical/devcontainer.json
@@ -0,0 +1,52 @@
+// https://aka.ms/devcontainer.json
+{
+    "name": "Fixposition ROS2 driver (Lyrical)",
+    "build": { "dockerfile": "Dockerfile", "context": "../.." },
+    "remoteUser": "fpsdk",
+    "updateRemoteUserUID": true,
+    "capAdd": ["SYS_PTRACE"],
+    "mounts": [
+        // Persistent bash history
+        "source=${localWorkspaceFolder}/.devcontainer/.bashrc,target=/home/fpsdk/.bashrc,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_logout,target=/home/fpsdk/.bash_logout,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_history.d,target=/home/fpsdk/.bash_history.d,type=bind",
+        // Persistent .vscode-server
+        "source=${localWorkspaceFolder}/.devcontainer/.vscode-server,target=/home/fpsdk/.vscode-server,type=bind",
+        // The code we're working on
+        "source=${localWorkspaceFolder},target=/home/fpsdk/fixposition_driver,type=bind",
+    ],
+    "workspaceFolder": "/home/fpsdk/fixposition_driver",
+    "runArgs": [ "--name=fixposition_driver-lyrical-${localEnv:USER}", "--hostname=lyrical" ],
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "files.exclude": {
+                    "**/.git": true,
+                    ".vscode-cache": true,
+                    "**/*~": true,
+                    ".vstags": true,
+                    "**/build/**": true,
+                    "core": true,
+                    "**/.devcontainer/.vscode-server/**": true,
+                    "**/.vscode-server/**": true
+                },
+                "search.exclude": {
+                    "tmp": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                },
+                "files.watcherExclude": {
+                    "**/.git/objects/**": true,
+                    "**/.git/refs/**": true,
+                    "**/.git/logs/**": true,
+                    "**/.git/subtree-cache/**": true,
+                    "**/.git/worktrees/**": true,
+                    "**/.vscode-*/**": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                }
+            }
+        }
+    }
+}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ee771b99..d8569ef0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -61,4 +61,21 @@ jobs:
                   git config --global --add safe.directory ${GITHUB_WORKSPACE}
                   ./.github/ci.sh
 
+    ci-lyrical:
+        runs-on: ubuntu-latest
+        container:
+            image: ghcr.io/fixposition/fixposition-sdk:lyrical-ci
+        defaults:
+            run:
+                shell: bash
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                    submodules: 'recursive'
+            - name: Build
+              run: |
+                  git config --global --add safe.directory ${GITHUB_WORKSPACE}
+                  ./.github/ci.sh
+
 # eof
diff --git a/CHANGELOG.md b/CHANGELOG.md
deleted file mode 100644
index 4ae0c496..00000000
--- a/CHANGELOG.md
+++ /dev/null
@@ -1,68 +0,0 @@
-# Changelog
-
-_For questions about compatibility, please contact Fixpositions Support support@fixposition.com_
-
-## x.x.x
-
-    - Remove support and CI for ROS 1 Melodic and ROS 2 Dashing/Eloquent/Foxy/Galactic
-    - Do CI for Noetic, Humble and Jazzy
-
-## [6.1.3](https://github.com/fixposition/fixposition_driver/releases/tag/6.1.3)
-
-    - Improve README
-
-## [6.1.2](https://github.com/fixposition/fixposition_driver/releases/tag/6.1.2)
-
-    - Bugfix gnss message timestamps
-
-## [6.1.1](https://github.com/fixposition/fixposition_driver/releases/tag/6.1.1)
-
-    -   Bugfix for serial connection
-    -   Add frame_id for imu messages
-
-## [6.1.0](https://github.com/fixposition/fixposition_driver/releases/tag/6.1.0)
-
-    -   Add feature to publish GNSS Antenna positions even if Fusion is not initialized. NOV_B-BESTGNSSPOS is used and sensor_msgs::NavSatFix is published. See more details in [Vision-RTK2 GNSS Antenna Positions](#Vision-RTK2-GNSS-Antenna-Positions).
-
-## [6.0.3](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.3)
-
-    -   Fix Frame ID of FP_POI in LLH converter
-    -   Bugfix of sending empty TFs
-    -   Fix wrong gnss status
-    -   Remove 'WsCallback' warning
-    -   Add ci file for ROS
-
-## [6.0.2](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.2)
-
-    -   Add missing depencency of `tf2_eigen` in `fixposition_driver_ros2/CMakeList.txt`
-
-## [6.0.1](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.1)
-
-    -   Adapted to be compatible with updated Fixposition message definitions
-    -   **Compatible with Vision-RTK 2 software released after 09.03.2023**
-
-## [5.0.0](https://github.com/fixposition/fixposition_driver/releases/tag/5.0.0)
-
-    -   Support both ROS1 and ROS2
-    -   Diverse bugfixes in code and documentation
-    -   **This is the last version compatible with Vision-RTK 2 software released before 17.01.2023**
-
-## [4.4.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.4.0)
-
-    -   Pitch-Roll estimation from IMU data parsed from Vision-RTK 2, output available before fusion initialization.
-    -   OdometryConverter implemented as an example for wheelspeed data integration.
-
-## [4.3.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.3.0)
-
-    -   Automatic reconnect after connection is lost
-    -   Adaption to latest Vision-RTK 2 software changes
-
-## [4.2.0](https://github.com/fixposition/fixposition_driver/releases/tag/4.2.0)
-
-    -   Euler Angle Yaw-Pitch-Roll in local ENU frame
-    -   Odometry in fixed ENU0 frame
-
-## [4.0.1](https://github.com/fixposition/fixposition_driver/releases/tag/4.0.1)
-
-    -   First public release
-    -   Code cleanup
diff --git a/README.md b/README.md
index 5ee07ba1..c6be9b40 100644
--- a/README.md
+++ b/README.md
@@ -2,9 +2,6 @@
 
 [ROS](https://www.ros.org/) (both ROS1 and ROS2) driver for [Fixposition Vision-RTK 2](https://www.fixposition.com/product) for **Linux**.
 
-> [!IMPORTANT]
-> Tags 8.0.0 onward break compatibility with previous versions. For more details on how to migrate to the new version, please refer to [Migration Guide](https://docs.fixposition.com/fd/migration-guide).
-
 [![CI](https://github.com/fixposition/fixposition_driver/actions/workflows/ci.yml/badge.svg)](https://github.com/fixposition/fixposition_driver/actions/workflows/ci.yml)
 
 ## Driver documentation
diff --git a/create_ros_ws.sh b/create_ros_ws.sh
index bfd46929..8ea2e552 100755
--- a/create_ros_ws.sh
+++ b/create_ros_ws.sh
@@ -85,7 +85,7 @@ function main
             noetic)
                 rosver=1
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 rosver=2
                 ;;
         esac
diff --git a/fixposition-sdk b/fixposition-sdk
index 5e26a53f..405edd4c 160000
--- a/fixposition-sdk
+++ b/fixposition-sdk
@@ -1 +1 @@
-Subproject commit 5e26a53fd8e4b4b5565fa292a66cbea9790437fa
+Subproject commit 405edd4ce58cd297241404744c9b3e1ea24ed68f
diff --git a/fixposition_driver.code-workspace b/fixposition_driver.code-workspace
index 145fbf86..7dc75d4d 100644
--- a/fixposition_driver.code-workspace
+++ b/fixposition_driver.code-workspace
@@ -63,7 +63,7 @@
             "${workspaceFolder}/fixposition_driver_lib/**",
             "${workspaceFolder}/fixposition_driver_ros1/**",
             "${workspaceFolder}/fixposition_driver_ros2/**",
-            "/opt/ros/noetic/include/**", "/opt/ros/humble/include/**", "/opt/ros/jazzy/include/**" ],
+            "/opt/ros/noetic/include/**", "/opt/ros/humble/include/**", "/opt/ros/jazzy/include/**", "/opt/ros/lyrical/include/**" ],
         "C_Cpp.default.defines":               [ "FP_USE_ROS1" ],
         //"C_Cpp.default.compileCommands":       "",
         //"C_Cpp.default.forcedIncludes":      [ ],
diff --git a/setup_ros_ws.sh b/setup_ros_ws.sh
index 3bda85b2..8224faf5 100755
--- a/setup_ros_ws.sh
+++ b/setup_ros_ws.sh
@@ -69,7 +69,7 @@ function main
             noetic)
                 rosver=1
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 rosver=2
                 ;;
         esac