TurtleBot4 Plans for Lyrical Luth / Ubuntu 26?

TurtleBot
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Is anyone planning to try building the Turtlebot4 (and Create3) packages on Lyrical Luth / Ubuntu 26?

The Lyrical Luth Test Party will probably launch May 1st, with official release usually May 23rd.

(Understandably) we didn’t see a Kilted Kaiju release for Turtlebot4, but Lyrical Luth will be another Long Term Support distribution.

It is not like this is an emergency, since Jazzy won’t EOL until May 2029.

Porting the Turtlebot4 code base to Lyrical is beyond my abilities, but thought I would ask the community (if there is still a community).

My TB5-WaLI is doing great on Jazzy - recently trying a “remote local” Quen3-vl:8b vision language assistant but he would love to have a longer supported future.

2026-03-08_TB5-WaLI
2026-03-08_TB5-WaLI1920×2560 382 KB

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I took a first look at building TurtleBot4 over ROS 2 Lyrical Luth and Ubuntu 26.04 Resolute Racoon.

There are some package dependencies which have yet to be released for Lyrical:

  • depthai-ros
  • nav2_simple_commander
  • nav2_common
  • slam_toolbox
  • ros-lyrical-rplidar-ros
    which prevent building the entire TurtleBot4 stack.

With ignoring packages with unreleased dependencies, I was able to clean up the TB4 code and create3_republisher code resulting in the remaining packages building successfully (no warnings, no errors): (Built on Pi5 4G)

ubuntu@u26llpi5:~/U26LLPi5/ros2_ws$ ./clean.sh 
Cleaning ros2_ws (log, install, build)
Cleaning AMENT and CMAKE PREFIX paths
Cleaned
ubuntu@u26llpi5:~/U26LLPi5/ros2_ws$ ./rebuild.sh 

** SOURCE .bashrc
** CHANGE to ~/U26LLPi5/ros2_ws
Ignoring: 
    irobot_create_gz_plugins
    irobot_create_gz_toolbox
    irobot_create_gz_sim
    create3_coverage
    irobot_create_nodes
    create3_teleop
    create3_examples_py
    turtlebot4_bringup
    turtlebot4_base
    turtlebot4_robot
    turtlebot4_node
Starting >>> irobot_create_msgs
Starting >>> irobot_create_control
Starting >>> turtlebot4_msgs
Starting >>> create3_examples_msgs
Finished <<< irobot_create_control [2.49s]                                                                     
Starting >>> irobot_create_description
Finished <<< irobot_create_description [2.92s]                                                         
Starting >>> irobot_create_common_bringup
Finished <<< irobot_create_common_bringup [4.02s]                                                            
Starting >>> irobot_create_toolbox
Finished <<< irobot_create_toolbox [4.86s]                                                                       
Starting >>> turtlebot4_navigation
Finished <<< turtlebot4_navigation [3.98s]                                                                       
Starting >>> turtlebot4_description
Finished <<< turtlebot4_description [2.56s]                                                                      
Finished <<< create3_examples_msgs [29.4s]                                                                        
Finished <<< turtlebot4_msgs [31.5s]                                                                        
[Processing: irobot_create_msgs]                                      
[Processing: irobot_create_msgs]                                        
Finished <<< irobot_create_msgs [1min 51s]                               
Starting >>> create3_lidar_slam
Starting >>> create3_republisher
Starting >>> turtlebot4_diagnostics
Starting >>> turtlebot4_tests
Finished <<< create3_lidar_slam [2.18s]                                                                            
Starting >>> irobot_create_gz_bringup
Finished <<< turtlebot4_tests [3.70s]                                                                               
Finished <<< turtlebot4_diagnostics [3.73s]
Finished <<< irobot_create_gz_bringup [2.66s]                                                                             
Finished <<< create3_republisher [33.6s]                              

Summary: 14 packages finished [2min 25s]

Notes:

  • The create3_republisher seemed to only be available bundled with some create3 examples not needed by TB4
  • I used the irobot_create_msgs bundled with the create3 examples rather than the separate irobot_create_msgs repo
deactivate

cd src
git clone https://github.com/turtlebot/turtlebot4.git
git clone https://github.com/iRobotEducation/create3_examples.git
git clone https://github.com/iRobotEducation/create3_sim.git
git clone https://github.com/iRobotEducation/irobot_create_msgs.git
git clone https://github.com/turtlebot/turtlebot4_robot.git

sudo apt install ros-lyrical-gz-gui-vendor
sudo apt install ros-lyrical-ros-gz
sudo apt install python3-catkin-pkg
sudo apt install ros-lyrical-control-msgs
sudo apt install libgpiod-dev gpiod
  • Changes for the obsoleted ament_target_dependancies in CMakeLists.txt
  • Changes for CMAKE minimum warnings in CMakeLists.txt
  • Two source changes for rmw_qos as C++ class
  • Removed require pytest from two setup.py
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