ci: add Lyrical to the build & test matrix

[benaliabderrahmane]

Adds the next ROS 2 release Lyrical to the build-and-test CI matrix as a regular entry, alongside Jazzy / Kilted / Rolling.

How

• ros_distro: [jazzy, kilted, rolling, lyrical] — one matrix list, no special-casing. Lyrical is no longer experimental, so the earlier draft's experimental flag and job-level continue-on-error are gone: a Lyrical failure turns CI red exactly like any other distro.
• Like Rolling, Lyrical gets rosidl_buffer installed by name, since it branched from Rolling after that package landed.

Scope / notes

• Build-and-test only (ci.yml). release.yml is unchanged.
• Rebased onto current main; the branch is a single commit.
• Verified: YAML parses and the matrix expands to 4 unconditional jobs.

[Copilot]

Pull request overview

This PR substantially changes core runtime behavior in rmw_unix_socket_cpp (wait/graph wakeups, TRANSIENT_LOCAL durability semantics, and transport edge-case handling) and adds extensive new tests to cover those behaviors. It also updates CI to include the next ROS 2 distro (“lyrical”) in the build/test matrix, but the PR metadata currently describes the change as CI-only, which doesn’t match the actual scope.

Changes:

• Add a pull-based TRANSIENT_LOCAL latched-cache design backed by per-publisher shared-memory rings (plus dedup watermarks and related test coverage).
• Rework rmw_wait() to support doorbell-based cross-process wakeups for graph events, plus more selective draining and fd arming behavior.
• Extend CI to build/test on lyrical and update dependency handling for rosidl_buffer.

Reviewed changes

Copilot reviewed 1 out of 1 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
.github/workflows/ci.yml	Adds lyrical to the CI build/test matrix and adjusts rosidl_buffer install logic.
rmw_unix_socket_cpp/CMakeLists.txt	Links registry implementation into graph tests for direct registry seeding.
rmw_unix_socket_cpp/DESIGN.md	Updates design documentation to reflect doorbell wakeups, pull-based TRANSIENT_LOCAL replay, and context-id semantics.
rmw_unix_socket_cpp/src/registry.hpp	Introduces ENTRY_DOORBELL registry entry type.
rmw_unix_socket_cpp/src/registry.cpp	Rings per-context doorbells after registry mutations; unlinks TL shm on slot teardown; adds doorbell-safe ringing logic.
rmw_unix_socket_cpp/src/rmw_graph.cpp	Throttles stale-entry cleanup to avoid GC work on every graph query.
rmw_unix_socket_cpp/src/rmw_init.cpp	Generates/stores per-context random context_id; binds doorbell socket; timestamps initial cleanup sweep; tears down doorbell on fini.
rmw_unix_socket_cpp/src/rmw_node.cpp	Publishes per-node graph guard conditions into a context list for rmw_wait triggering.
rmw_unix_socket_cpp/src/rmw_wait.cpp	Major rework: context-aware wait sets, lazy doorbell registration for graph consumers, fd→entity arming cache, selective drain/dispatch, timeout semantics.
rmw_unix_socket_cpp/src/types.hpp	Adds context identity + same-context detection, entity UID, wait-set arming bookkeeping, TL replay watermark storage, TL ring writer state.
rmw_unix_socket_cpp/src/transport.cpp	Makes recv_from() consume/skip zero-length and runt datagrams to avoid spinning and drain termination issues.
rmw_unix_socket_cpp/src/shm_transport.hpp	Defines TL ring layout/constants and public TL ring APIs (tl_ring_create/latch/pull/close).
rmw_unix_socket_cpp/src/shm_transport.cpp	Implements TL ring creation/latching/pulling; expands orphan shm cleanup to cover TL segments.
rmw_unix_socket_cpp/src/rmw_publisher.cpp	Creates/closes TL ring for TRANSIENT_LOCAL publishers; changes TL publish path to latch into TL ring and relies on subscriber pull + watermark dedup.
rmw_unix_socket_cpp/src/rmw_subscription.cpp	Copies ignore-local option, pulls TL history at subscription creation, and drops replay duplicates via watermarks.
rmw_unix_socket_cpp/src/rmw_service.cpp	Embeds context id into service GIDs.
rmw_unix_socket_cpp/src/rmw_client.cpp	Embeds context id into client GIDs.
rmw_unix_socket_cpp/test/test_base.hpp	Makes default test domain configurable per-fixture (enables private registry domains).
rmw_unix_socket_cpp/test/test_transport.cpp	Adds tests ensuring zero-length datagrams are consumed and don’t block real messages.
rmw_unix_socket_cpp/test/test_shm_transport.cpp	Adds extensive TL ring latch/pull tests, including poisoned-slot and overlap scenarios.
rmw_unix_socket_cpp/test/test_rmw_wait.cpp	Adds many wait/graph/timeout/ignored-local tests covering new rmw_wait behavior.
rmw_unix_socket_cpp/test/test_rmw_service_client.cpp	Adds a response-delivery-via-wait test for client readiness.
rmw_unix_socket_cpp/test/test_rmw_qos.cpp	Updates TRANSIENT_LOCAL behavior tests for pull-based replay and new degradation semantics when shm is unavailable.
rmw_unix_socket_cpp/test/test_rmw_pub_sub.cpp	Adds ignore_local_publications behavior test at pub/sub level.
rmw_unix_socket_cpp/test/test_rmw_graph.cpp	Adds a throttle test for stale cleanup behavior (private domain).

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[Copilot]

Pull request overview

Copilot reviewed 1 out of 1 changed files in this pull request and generated no new comments.