Migrate ROS 2 environment from Kilted to Lyrical - #10
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Switch the agent's ROS 2 layer to Lyrical without a source build. `rclrs` and `rosidl_runtime_rs` now come from crates.io, and the robostack-lyrical conda packages provide the ROS 2 runtime plus pre-generated Rust message bindings, which `.cargo/config.toml` patches in. Move the Pixi manifest to the repo root and slim it to `ros-lyrical-ros-base` plus the Rust toolchain. Remove the `rclrs_ws` colcon/vcstool source-build workspace and its `setup.bash` step; building now only needs `pixi install` then `cargo build`. Update docs and CHANGELOG accordingly. Building talos-agent is blocked until an rclrs release with ROS 2 Lyrical support lands on crates.io (upstream ros2-rust/ros2_rust#640); the client crates are unaffected. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Summary
Migrates the agent's ROS 2 layer from Kilted to Lyrical, dropping the source build of
rclrs.rclrs+rosidl_runtime_rsnow come from crates.io; therobostack-lyricalconda packages provide the ROS 2 runtime and pre-generated Rust message bindings, which.cargo/config.tomlpatches in.ros-lyrical-ros-base+ the Rust toolchain.rclrs_wscolcon/vcstool source-build workspace and itssetup.bashstep. Building now only needspixi installthencargo build..cargo/config.toml(dropped the staleactionlib_msgs/example_interfacespatches) and updated docs + CHANGELOG.Verified
.pixi/envs/default/share/<pkg>/rust.cargo build -p talos-agentresolves all deps (crates.iorclrs 0.7.0+rosidl_runtime_rs 0.6.0, env message crates) and fails only at rclrs'spanic!("Unsupported ROS distribution")forlyrical.talos-common,-cli,-tui) compile cleanly.⏳ Blocked on upstream
rclrs has no Lyrical support on crates.io yet. Upstream PR ros2-rust/ros2_rust#640 adds it. Once it merges and a
0.7.xrelease lands on crates.io,cargo buildin this env succeeds with no further changes here. The client crates are unaffected in the meantime.🤖 Generated with Claude Code