diff --git a/README.md b/README.md
index 8735f0621..dadd20da1 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,7 @@
| **ROS 2 Distro** | **CI Status** |
| :---: | :---: |
-| [](https://www.ros.org/) | [](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/windows-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-asan-test.yml?query=branch%3Adevelop) |
+| [](https://www.ros.org/) | [](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/windows-push-test.yml?query=branch%3Adevelop)
[](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-asan-test.yml?query=branch%3Adevelop) |
**rclnodejs** is a Node.js client library for [ROS 2](https://www.ros.org/) that provides comprehensive JavaScript and TypeScript APIs for developing ROS 2 solutions.
@@ -48,7 +48,7 @@ Choose the path that matches how you plan to use rclnodejs:
### Prerequisites
- [Node.js](https://nodejs.org/en/) version >= 20.20.2
-- [ROS 2 SDK](https://docs.ros.org/en/jazzy/Installation.html)
+- [ROS 2 SDK](https://docs.ros.org/en/lyrical/Installation.html)
Before installing, building, or running rclnodejs, source your ROS 2 environment:
@@ -90,6 +90,7 @@ rclnodejs ships with prebuilt native binaries for common Linux configurations si
- **Ubuntu 22.04 (Jammy)** - ROS 2 Humble
- **Ubuntu 24.04 (Noble)** - ROS 2 Jazzy, Kilted
+- **Ubuntu 26.04 (Resolute)** - ROS 2 Lyrical
- **Architectures:** x64, arm64
- **Node.js:** >= 20.20.2 (N-API compatible)
@@ -202,7 +203,7 @@ See the [Observable Subscriptions Tutorial](./tutorials/observable-subscriptions
> A tiny WebSocket gateway to ROS 2 — built into `rclnodejs`.
-> **Availability:** experimental; currently only on the `develop` branch and not yet part of any published `rclnodejs` release.
+> **Availability:** new in `2.0.0-beta.0`.
**rosocket** exposes ROS 2 topics/services as plain WebSocket URLs — a
**lightweight** alternative to the rosbridge + roslibjs stack. Zero browser
diff --git a/benchmark/README.md b/benchmark/README.md
index 803cd8158..1e418399b 100644
--- a/benchmark/README.md
+++ b/benchmark/README.md
@@ -4,7 +4,7 @@ Performance benchmarks for comparing ROS 2 client libraries: C++ (rclcpp), Pytho
## Prerequisites
-1. **ROS 2**: Install from [ros.org](https://docs.ros.org/en/jazzy/Installation.html)
+1. **ROS 2**: Install from [ros.org](https://docs.ros.org/en/lyrical/Installation.html)
2. **Node.js**: v20.20.2+ for rclnodejs (from [nodejs.org](https://nodejs.org/))
3. **rclnodejs**: Follow [installation guide](https://github.com/RobotWebTools/rclnodejs#installation)
4. **Build Dependencies**: For C++ benchmarks: `sudo apt install libssl-dev cmake build-essential`
diff --git a/demo/electron/car/README.md b/demo/electron/car/README.md
index bf2bdb1ba..f2b1061fb 100644
--- a/demo/electron/car/README.md
+++ b/demo/electron/car/README.md
@@ -29,7 +29,7 @@ This demo showcases how to use **rclnodejs** with **Electron** to create an inte
Before running this demo, ensure you have:
-1. **ROS2 installed** (Humble, Jazzy, Kilted, or Rolling)
+1. **ROS2 installed** (Humble, Jazzy, Kilted, Lyrical, or Rolling)
2. **Node.js** (version 20.20.2 or higher)
3. **rclnodejs built** and working
@@ -319,9 +319,9 @@ console.log('Publishing command:', command, twist);
## 📚 Learning Resources
- [rclnodejs Documentation](https://github.com/RobotWebTools/rclnodejs)
-- [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
+- [ROS2 Tutorials](https://docs.ros.org/en/lyrical/Tutorials.html)
- [Electron Documentation](https://www.electronjs.org/docs)
-- [geometry_msgs/Twist Documentation](https://docs.ros.org/en/rolling/p/geometry_msgs/interfaces/msg/Twist.html)
+- [geometry_msgs/Twist Documentation](https://docs.ros.org/en/lyrical/p/geometry_msgs/interfaces/msg/Twist.html)
## 📄 License
diff --git a/demo/electron/manipulator/README.md b/demo/electron/manipulator/README.md
index 616769367..c94c9c1e7 100644
--- a/demo/electron/manipulator/README.md
+++ b/demo/electron/manipulator/README.md
@@ -17,7 +17,7 @@ An interactive Electron application demonstrating a two-joint robotic manipulato
## 📋 Prerequisites
- **Node.js** (>= 20.20.2) - JavaScript runtime
-- **ROS 2** (Humble, Jazzy, or newer) - Robot Operating System 2
+- **ROS 2** (Humble, Jazzy, Kilted, Lyrical, or Rolling) - Robot Operating System 2
- **rclnodejs compatible environment** - Linux recommended (tested on Ubuntu/WSL)
## 🛠️ Installation
@@ -329,7 +329,7 @@ manipulator/
## 📚 Learning Resources
-- **ROS2 Concepts**: [ROS2 Documentation](https://docs.ros.org/en/humble/)
+- **ROS2 Concepts**: [ROS2 Documentation](https://docs.ros.org/en/lyrical/)
- **Three.js Guide**: [Three.js Documentation](https://threejs.org/docs/)
- **Electron Tutorials**: [Electron Documentation](https://electronjs.org/docs)
- **rclnodejs API**: [rclnodejs Repository](https://github.com/RobotWebTools/rclnodejs)
diff --git a/demo/electron/topics/README.md b/demo/electron/topics/README.md
index 20f2f504e..e09e762a1 100644
--- a/demo/electron/topics/README.md
+++ b/demo/electron/topics/README.md
@@ -22,7 +22,7 @@ A minimal Electron application demonstrating basic ROS2 topic communication usin
## 📋 Prerequisites
- **Node.js** (>= 20.20.2) - JavaScript runtime
-- **ROS 2** (Humble, Jazzy, or newer) - Robot Operating System 2
+- **ROS 2** (Humble, Jazzy, Kilted, Lyrical, or Rolling) - Robot Operating System 2
- **rclnodejs compatible environment** - Linux recommended (tested on Ubuntu/WSL)
## 🛠️ Installation
diff --git a/demo/electron/turtle_tf2/README.md b/demo/electron/turtle_tf2/README.md
index 33ae9a002..be11f2dca 100644
--- a/demo/electron/turtle_tf2/README.md
+++ b/demo/electron/turtle_tf2/README.md
@@ -50,7 +50,7 @@ The turtle_tf2 demo showcases:
### System Requirements
-- **ROS2**: Humble, Iron, or Rolling distribution
+- **ROS2**: Humble, Jazzy, Kilted, Lyrical, or Rolling distribution
- **Node.js**: Version 20.20.2 or higher
- **turtlesim**: ROS2 turtle simulation package
- **Electron**: For desktop application framework
@@ -404,7 +404,7 @@ turtle_tf2/
## Related Resources
-- [ROS2 TF2 Tutorials](https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Tf2-Main.html)
+- [ROS2 TF2 Tutorials](https://docs.ros.org/en/lyrical/Tutorials/Intermediate/Tf2/Tf2-Main.html)
- [turtle_tf2_py Source](https://github.com/ros/geometry_tutorials/tree/ros2/turtle_tf2_py)
- [Three.js Documentation](https://threejs.org/docs/)
- [rclnodejs GitHub](https://github.com/RobotWebTools/rclnodejs)
diff --git a/demo/typescript/actions/README.md b/demo/typescript/actions/README.md
index 447e28b94..7488cd0cc 100644
--- a/demo/typescript/actions/README.md
+++ b/demo/typescript/actions/README.md
@@ -48,7 +48,7 @@ demo/typescript/actions/
Before running this demo, ensure you have:
-1. **ROS2** installed (tested with ROS2 Humble/Iron/Jazzy)
+1. **ROS2** installed (tested with ROS2 Humble/Jazzy/Kilted/Lyrical)
2. **Node.js** (version 20.20.2 or higher)
3. **rclnodejs** built and configured in the parent directory (`../../`)
4. **test_msgs** package available (usually included with ROS2)
diff --git a/docs/BUILDING.md b/docs/BUILDING.md
index b132bd122..1e00da801 100644
--- a/docs/BUILDING.md
+++ b/docs/BUILDING.md
@@ -2,13 +2,13 @@
### Get ready for ROS 2
-1.Install ROS 2 from binary package.
+1. Install ROS 2 from binary package.
-ROS 2 is a cross-platform system, which covers Linux, macOS and Windows, and the `rclnodejs` module is developed against the [`master`](https://github.com/ros2/ros2/blob/master/ros2.repos) branch of ROS 2. You can download the latest binary packages from [ROS 2 build farm](http://ci.ros2.org/view/packaging/) and follow the instructions of [Linux](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)/[Windows](https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html) to setup the environment. Supported ROS 2 distributions: Rolling, Kilted, Jazzy, and Humble.
+ ROS 2 is a cross-platform system, which covers Linux, macOS and Windows, and the `rclnodejs` module is developed against the [`master`](https://github.com/ros2/ros2/blob/master/ros2.repos) branch of ROS 2. You can download the latest binary packages from the [ROS 2 nightly builds](https://github.com/ros2/ros2/releases/tag/release-rolling-nightlies) and follow the instructions of [Linux](https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debians.html)/[Windows](https://docs.ros.org/en/lyrical/Installation/Windows-Install-Binary.html) to setup the environment. Supported ROS 2 distributions: Rolling, Lyrical, Kilted, Jazzy, and Humble.
-2.Build ROS 2 from scratch.
+2. Build ROS 2 from scratch.
-Alternatively, you can build ROS 2 from scratch. Please select the platform you want to work on, then reference the instructions of [Linux](https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Development-Setup.html#)/[Windows](https://docs.ros.org/en/rolling/Installation/Alternatives/Windows-Development-Setup.html) to build ROS 2 (please build with flag `--merge-install`).
+ Alternatively, you can build ROS 2 from scratch. Please select the platform you want to work on, then reference the instructions of [Linux](https://docs.ros.org/en/lyrical/Installation/Alternatives/Ubuntu-Development-Setup.html#)/[Windows](https://docs.ros.org/en/lyrical/Installation/Alternatives/Windows-Development-Setup.html) to build ROS 2 (please build with flag `--merge-install`).
### Install `Node.js`
diff --git a/scripts/npmjs-readme.md b/scripts/npmjs-readme.md
index 73fc37543..85ca2ff43 100644
--- a/scripts/npmjs-readme.md
+++ b/scripts/npmjs-readme.md
@@ -2,7 +2,7 @@
`rclnodejs` is a Node.js client library for ROS 2 that provides JavaScript and TypeScript APIs for building ROS 2 applications.
-Supported ROS 2 distributions include Humble, Jazzy, Kilted, and Rolling.
+Supported ROS 2 distributions include Humble, Jazzy, Kilted, Lyrical, and Rolling.
```javascript
const rclnodejs = require('rclnodejs');
@@ -21,7 +21,7 @@ This example assumes your ROS 2 environment is already sourced.
### Prerequisites
- [Node.js](https://nodejs.org/en/) version >= 20.20.2
-- [ROS 2 SDK](https://docs.ros.org/en/jazzy/Installation.html)
+- [ROS 2 SDK](https://docs.ros.org/en/lyrical/Installation.html)
Before installing or running rclnodejs, source your ROS 2 environment:
@@ -51,6 +51,7 @@ rclnodejs ships with prebuilt native binaries for common Linux configurations si
- **Ubuntu 22.04 (Jammy)** - ROS 2 Humble
- **Ubuntu 24.04 (Noble)** - ROS 2 Jazzy, Kilted
+- **Ubuntu 26.04 (Resolute)** - ROS 2 Lyrical
- **Architectures:** x64, arm64
- **Node.js:** >= 20.20.2 (N-API compatible)
diff --git a/tutorials/content-filtering-subscription.md b/tutorials/content-filtering-subscription.md
index a4f3650dd..a52574381 100644
--- a/tutorials/content-filtering-subscription.md
+++ b/tutorials/content-filtering-subscription.md
@@ -164,8 +164,8 @@ const isSupported =
## References
-- [ROS 2 Content Filtering Documentation](https://docs.ros.org/en/kilted/Tutorials/Demos/Content-Filtering-Subscription.html)
-- [Advanced Topic Keys Tutorial](https://docs.ros.org/en/kilted/Tutorials/Advanced/Topic-Keys/Filtered-Topic-Keys-Tutorial.html)
+- [ROS 2 Content Filtering Documentation](https://docs.ros.org/en/lyrical/Tutorials/Demos/Content-Filtering-Subscription.html)
+- [Advanced Topic Keys Tutorial](https://docs.ros.org/en/lyrical/Tutorials/Advanced/Topic-Keys/Filtered-Topic-Keys-Tutorial.html)
- [rclnodejs GitHub Repository](https://github.com/RobotWebTools/rclnodejs)
---
@@ -488,7 +488,7 @@ Content filtering in rclnodejs provides powerful message filtering at the DDS mi
For more information:
-- [ROS 2 Content Filtering Demo](https://docs.ros.org/en/kilted/Tutorials/Demos/Content-Filtering-Subscription.html)
+- [ROS 2 Content Filtering Demo](https://docs.ros.org/en/lyrical/Tutorials/Demos/Content-Filtering-Subscription.html)
- [rclnodejs API Documentation](https://robotwebtools.github.io/rclnodejs/)
- [Content filtering tests](../test/test-subscription-content-filter.js)
- [DDS 1.4 Specification](https://www.omg.org/spec/DDS/1.4/PDF) (Annex B for filter syntax)
diff --git a/tutorials/service-introspection.md b/tutorials/service-introspection.md
index 0f5f0bcca..6834fda78 100644
--- a/tutorials/service-introspection.md
+++ b/tutorials/service-introspection.md
@@ -1170,7 +1170,7 @@ Remember to use introspection judiciously in production systems, considering the
For more information, see:
-- [ROS 2 Service Introspection Documentation](https://docs.ros.org/en/kilted/Tutorials/Demos/Service-Introspection.html)
+- [ROS 2 Service Introspection Documentation](https://docs.ros.org/en/lyrical/Tutorials/Demos/Service-Introspection.html)
- [rclnodejs API Documentation](https://robotwebtools.github.io/rclnodejs/docs/index.html)
- [Example service code](../example/services/service/service-example.js)
- [Introspection test cases](../test/test-service-introspection.js)
diff --git a/tutorials/type-description-service.md b/tutorials/type-description-service.md
index a468e33ba..21ecd1db8 100644
--- a/tutorials/type-description-service.md
+++ b/tutorials/type-description-service.md
@@ -1457,7 +1457,7 @@ Remember to handle service availability gracefully and use appropriate error han
For more information, see:
-- [ROS 2 Introspection Documentation](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html)
+- [ROS 2 Introspection Documentation](https://docs.ros.org/en/lyrical/Concepts/About-ROS-Interfaces.html)
- [rclnodejs API Documentation](https://robotwebtools.github.io/rclnodejs/)
- [Type Description Service implementation](../lib/type_description_service.js)
- [Type Description Service tests](../test/test-type-description-service.js)