From fcfb4ced1372fac35004c5bd7ea3a52ab476eb31 Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Fri, 22 May 2026 15:53:27 -0700
Subject: [PATCH 1/5] Add ROS 2 lyrical images

---
 .vscode/tasks.json                            |   1 +
 docker-bake.hcl                               |  60 +++++-
 .../rviz/lyrical-docker-compose.yml           |  17 ++
 ros2/README.md                                |   8 +
 ros2/humble-cuda.Dockerfile                   |  14 +-
 ros2/humble.Dockerfile                        |  14 +-
 ros2/jazzy-cuda.Dockerfile                    |  14 +-
 ros2/jazzy.Dockerfile                         |  14 +-
 ros2/kilted.Dockerfile                        |  14 +-
 ros2/lyrical.Dockerfile                       | 177 ++++++++++++++++++
 ros2/rolling-cuda.Dockerfile                  |  14 +-
 ros2/rolling.Dockerfile                       |  16 +-
 template/ros2.dockerfile.jinja                |  14 +-
 templates.yml                                 |  18 +-
 14 files changed, 343 insertions(+), 52 deletions(-)
 create mode 100644 docker-compose/rviz/lyrical-docker-compose.yml
 create mode 100644 ros2/lyrical.Dockerfile

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 69a955ce..0ccb198a 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -113,6 +113,7 @@
       "options": [
         "ros2-rolling",
         "ros2-rolling-cuda",
+        "ros2-lyrical",
         "ros2-kilted",
         "ros2-jazzy",
         "ros2-jazzy-cuda",
diff --git a/docker-bake.hcl b/docker-bake.hcl
index 40a244ae..bb5de7c7 100644
--- a/docker-bake.hcl
+++ b/docker-bake.hcl
@@ -315,6 +315,58 @@ group "ros2-rolling-cuda" {
   targets = ["ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo"]
 }
 
+# ----------- targets for ros2-lyrical -----------
+
+target "ros2-lyrical-base" {
+  context    = "ros2"
+  dockerfile = "lyrical.Dockerfile"
+  target     = "base"
+  tags       = [
+    "${REGISTRY}/ros2:lyrical-base",
+  ]
+}
+
+target "ros2-lyrical-dev" {
+  context    = "ros2"
+  dockerfile = "lyrical.Dockerfile"
+  target     = "dev"
+  tags       = [
+    "${REGISTRY}/ros2:lyrical-dev",
+  ]
+}
+
+target "ros2-lyrical-desktop" {
+  context    = "ros2"
+  dockerfile = "lyrical.Dockerfile"
+  target     = "desktop"
+  tags       = [
+    "${REGISTRY}/ros2:lyrical-desktop",
+  ]
+}
+
+target "ros2-lyrical-full" {
+  context    = "ros2"
+  dockerfile = "lyrical.Dockerfile"
+  target     = "full"
+  tags       = [
+    "${REGISTRY}/ros2:lyrical-full",
+  ]
+}
+
+target "ros2-lyrical-gazebo" {
+  context    = "ros2"
+  dockerfile = "lyrical.Dockerfile"
+  target     = "gazebo"
+  tags       = [
+    "${REGISTRY}/ros2:lyrical-gazebo",
+  ]
+}
+
+# ---- group for all ros2-lyrical  ----
+group "ros2-lyrical" {
+  targets = ["ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo"]
+}
+
 # ----------- targets for ros2-kilted -----------
 
 target "ros2-kilted-base" {
@@ -1392,6 +1444,10 @@ group "ros2-rolling-linux-arm64" { targets = [ "ros2-rolling-base" ] }
 group "ros2-rolling-cuda-linux-amd64" { targets = [ "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo" ] }
 
 
+group "ros2-lyrical-linux-amd64" { targets = [ "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo" ] }
+group "ros2-lyrical-linux-arm64" { targets = [ "ros2-lyrical-base" ] }
+
+
 group "ros2-kilted-linux-amd64" { targets = [ "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo" ] }
 group "ros2-kilted-linux-arm64" { targets = [ "ros2-kilted-base" ] }
 
@@ -1487,7 +1543,7 @@ group "gz-garden-cuda-linux-amd64" { targets = [ "gz-garden-cuda-base", "gz-gard
 # ---------- Family-level groups (e.g., ros2, gz, ignition) ----------
 
 group "ros" { targets = [ "ros-noetic-base", "ros-noetic-dev", "ros-noetic-desktop", "ros-noetic-full", "ros-noetic-gazebo", "ros-melodic-base", "ros-melodic-dev", "ros-melodic-desktop", "ros-melodic-full", "ros-melodic-gazebo", "ros-lunar-base", "ros-lunar-dev", "ros-lunar-desktop", "ros-lunar-full", "ros-lunar-gazebo", "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full", "ros-kinetic-gazebo" ] }
-group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
+group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
 group "gazebo" { targets = [ "gazebo-gazebo11-base", "gazebo-gazebo11-dev", "gazebo-gazebo10-base", "gazebo-gazebo10-dev", "gazebo-gazebo9-base", "gazebo-gazebo9-dev" ] }
 group "ignition" { targets = [ "ignition-fortress-base", "ignition-fortress-dev", "ignition-edifice-base", "ignition-edifice-dev", "ignition-dome-base", "ignition-dome-dev", "ignition-citadel-base", "ignition-citadel-dev" ] }
 group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev", "gz-garden-base", "gz-garden-dev", "gz-garden-cuda-base", "gz-garden-cuda-dev" ] }
@@ -1495,6 +1551,6 @@ group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base",
 # ---- all non-EOL targets ----
 group "default" {
   targets = [
-    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
+    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
   ]
 }
\ No newline at end of file
diff --git a/docker-compose/rviz/lyrical-docker-compose.yml b/docker-compose/rviz/lyrical-docker-compose.yml
new file mode 100644
index 00000000..db2c01e6
--- /dev/null
+++ b/docker-compose/rviz/lyrical-docker-compose.yml
@@ -0,0 +1,17 @@
+ # Note: Run `xhost +local:docker` on the host before starting this container
+
+services:
+  rviz-lyrical:
+    image: althack/ros2:lyrical-full
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XAUTHORITY=${XAUTHORITY}
+      - LIBGL_ALWAYS_SOFTWARE=1  # Force software rendering
+      - MESA_GL_VERSION_OVERRIDE=3.3
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    network_mode: host  # Use host networking
+    stdin_open: true
+    tty: true
+    command: ros2 run rviz2 rviz2
+   
\ No newline at end of file
diff --git a/ros2/README.md b/ros2/README.md
index 6328e769..c2217887 100644
--- a/ros2/README.md
+++ b/ros2/README.md
@@ -30,6 +30,14 @@ rolling-cuda
 * [rolling-cuda-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
 * [rolling-cuda-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
 
+lyrical
+  
+* [lyrical-base](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-dev](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-full](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+
 kilted
   
 * [kilted-base](https://github.com/althack/dockerfiles/blob/main/ros2/kilted.Dockerfile)
diff --git a/ros2/humble-cuda.Dockerfile b/ros2/humble-cuda.Dockerfile
index cbba90cf..a4589b70 100644
--- a/ros2/humble-cuda.Dockerfile
+++ b/ros2/humble-cuda.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=humble
 
diff --git a/ros2/humble.Dockerfile b/ros2/humble.Dockerfile
index df3af391..ff17efa4 100644
--- a/ros2/humble.Dockerfile
+++ b/ros2/humble.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=humble
 
diff --git a/ros2/jazzy-cuda.Dockerfile b/ros2/jazzy-cuda.Dockerfile
index 4490b065..1cb675a1 100644
--- a/ros2/jazzy-cuda.Dockerfile
+++ b/ros2/jazzy-cuda.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=jazzy
 
diff --git a/ros2/jazzy.Dockerfile b/ros2/jazzy.Dockerfile
index 1820a4e3..a5970baa 100644
--- a/ros2/jazzy.Dockerfile
+++ b/ros2/jazzy.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=jazzy
 
diff --git a/ros2/kilted.Dockerfile b/ros2/kilted.Dockerfile
index 43c951c2..4e9f5306 100644
--- a/ros2/kilted.Dockerfile
+++ b/ros2/kilted.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=kilted
 
diff --git a/ros2/lyrical.Dockerfile b/ros2/lyrical.Dockerfile
new file mode 100644
index 00000000..968e41bf
--- /dev/null
+++ b/ros2/lyrical.Dockerfile
@@ -0,0 +1,177 @@
+##############################################
+# Created from template ros2.dockerfile.jinja
+##############################################
+
+###########################################
+# Base image
+###########################################
+FROM ubuntu:26.04 AS base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common programs
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gettext-base \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    software-properties-common \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+# Setup ROS Apt sources
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV ROS_DISTRO=lyrical
+
+# Install ROS2
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-lyrical-ros-base \
+    python3-argcomplete \
+    python3-rosdep \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Check if "ubuntu" user exists, delete it if it does, then create the desired user
+RUN if getent passwd ubuntu > /dev/null 2>&1; then \
+        userdel -r ubuntu && \
+        echo "Deleted existing ubuntu user"; \
+    fi && \
+    groupadd --gid $USER_GID $USERNAME && \
+    useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
+    echo "Created new user $USERNAME"
+
+# Add sudo support for the non-root user
+RUN apt-get update && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y --no-install-recommends git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+# setup entrypoint
+COPY ./ros_entrypoint.sh /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+###########################################
+#  Develop image
+###########################################
+FROM base AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  bash-completion \
+  build-essential \
+  cmake \
+  gdb \
+  git \
+  openssh-client \
+  python3-argcomplete \
+  python3-pip \
+  ros-dev-tools \
+  ros-lyrical-ament-* \
+  vim \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init || echo "rosdep already initialized"
+
+ENV DEBIAN_FRONTEND=
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Desktop image
+###########################################
+FROM dev AS desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the desktop release
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-lyrical-desktop \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Full image
+###########################################
+FROM desktop AS full
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the desktop release
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-lyrical-desktop-full \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+
+###########################################
+#  Full+Gazebo image
+###########################################
+FROM full AS gazebo
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install gazebo
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && apt-get update && apt-get install -q -y --no-install-recommends \
+    ros-lyrical-ros-gz \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Full+Gazebo+Nvidia image
+###########################################
+
+FROM gazebo AS nvidia
+
+################
+# Expose the nvidia driver to allow opengl
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+ && apt-get install -y -qq --no-install-recommends \
+  libglvnd0 \
+  libgl1 \
+  libglx0 \
+  libegl1 \
+  libxext6 \
+  libx11-6
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QT_X11_NO_MITSHM=1
\ No newline at end of file
diff --git a/ros2/rolling-cuda.Dockerfile b/ros2/rolling-cuda.Dockerfile
index b1f7f4a5..4ed10734 100644
--- a/ros2/rolling-cuda.Dockerfile
+++ b/ros2/rolling-cuda.Dockerfile
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=rolling
 
diff --git a/ros2/rolling.Dockerfile b/ros2/rolling.Dockerfile
index 55c9ce42..c8c55ba4 100644
--- a/ros2/rolling.Dockerfile
+++ b/ros2/rolling.Dockerfile
@@ -5,7 +5,7 @@
 ###########################################
 # Base image
 ###########################################
-FROM ubuntu:24.04 AS base
+FROM ubuntu:26.04 AS base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=rolling
 
diff --git a/template/ros2.dockerfile.jinja b/template/ros2.dockerfile.jinja
index 8dc8892f..2ace2bd8 100644
--- a/template/ros2.dockerfile.jinja
+++ b/template/ros2.dockerfile.jinja
@@ -25,14 +25,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO={{ distro }}
 
diff --git a/templates.yml b/templates.yml
index 7d0ff641..18b515a3 100644
--- a/templates.yml
+++ b/templates.yml
@@ -77,7 +77,7 @@ dockerfiles:
         platforms: ["linux/amd64"]
       - target: gazebo
         platforms: ["linux/amd64"]
-    base_image: "ubuntu:24.04"
+    base_image: "ubuntu:26.04"
   - family: "ros2"
     name: rolling-cuda
     distro: rolling
@@ -93,6 +93,22 @@ dockerfiles:
       - target: gazebo
         platforms: ["linux/amd64"]
     base_image: "nvidia/cuda:13.0.1-cudnn-runtime-ubuntu24.04"
+  - family: "ros2"
+    name: lyrical
+    distro: lyrical
+    targets:
+      - target: base
+        platforms: ["linux/amd64", "linux/arm64"]
+      - target: dev
+        platforms: ["linux/amd64"]
+      - target: desktop
+        platforms: ["linux/amd64"]
+      - target: full
+        platforms: ["linux/amd64"]
+      - target: gazebo
+        platforms: ["linux/amd64"]
+    base_image: "ubuntu:26.04"
+    eol: "2031-05-31"
   - family: "ros2"
     name: kilted
     distro: kilted

From d2af99f00d06639f8ca1ae4b9e88573d00862b35 Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Fri, 22 May 2026 16:09:49 -0700
Subject: [PATCH 2/5] Remove unsupported rolling cuda

---
 .vscode/tasks.json |  1 -
 docker-bake.hcl    | 59 ++--------------------------------------------
 ros2/README.md     |  8 -------
 templates.yml      | 15 ------------
 4 files changed, 2 insertions(+), 81 deletions(-)

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 0ccb198a..3b2e9e6d 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -112,7 +112,6 @@
       "description": "name of the image to build",
       "options": [
         "ros2-rolling",
-        "ros2-rolling-cuda",
         "ros2-lyrical",
         "ros2-kilted",
         "ros2-jazzy",
diff --git a/docker-bake.hcl b/docker-bake.hcl
index bb5de7c7..13e0ddf4 100644
--- a/docker-bake.hcl
+++ b/docker-bake.hcl
@@ -263,58 +263,6 @@ group "ros2-rolling" {
   targets = ["ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo"]
 }
 
-# ----------- targets for ros2-rolling-cuda -----------
-
-target "ros2-rolling-cuda-base" {
-  context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
-  target     = "base"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-base",
-  ]
-}
-
-target "ros2-rolling-cuda-dev" {
-  context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
-  target     = "dev"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-dev",
-  ]
-}
-
-target "ros2-rolling-cuda-desktop" {
-  context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
-  target     = "desktop"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-desktop",
-  ]
-}
-
-target "ros2-rolling-cuda-full" {
-  context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
-  target     = "full"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-full",
-  ]
-}
-
-target "ros2-rolling-cuda-gazebo" {
-  context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
-  target     = "gazebo"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-gazebo",
-  ]
-}
-
-# ---- group for all ros2-rolling-cuda  ----
-group "ros2-rolling-cuda" {
-  targets = ["ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo"]
-}
-
 # ----------- targets for ros2-lyrical -----------
 
 target "ros2-lyrical-base" {
@@ -1441,9 +1389,6 @@ group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rollin
 group "ros2-rolling-linux-arm64" { targets = [ "ros2-rolling-base" ] }
 
 
-group "ros2-rolling-cuda-linux-amd64" { targets = [ "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo" ] }
-
-
 group "ros2-lyrical-linux-amd64" { targets = [ "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo" ] }
 group "ros2-lyrical-linux-arm64" { targets = [ "ros2-lyrical-base" ] }
 
@@ -1543,7 +1488,7 @@ group "gz-garden-cuda-linux-amd64" { targets = [ "gz-garden-cuda-base", "gz-gard
 # ---------- Family-level groups (e.g., ros2, gz, ignition) ----------
 
 group "ros" { targets = [ "ros-noetic-base", "ros-noetic-dev", "ros-noetic-desktop", "ros-noetic-full", "ros-noetic-gazebo", "ros-melodic-base", "ros-melodic-dev", "ros-melodic-desktop", "ros-melodic-full", "ros-melodic-gazebo", "ros-lunar-base", "ros-lunar-dev", "ros-lunar-desktop", "ros-lunar-full", "ros-lunar-gazebo", "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full", "ros-kinetic-gazebo" ] }
-group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
+group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
 group "gazebo" { targets = [ "gazebo-gazebo11-base", "gazebo-gazebo11-dev", "gazebo-gazebo10-base", "gazebo-gazebo10-dev", "gazebo-gazebo9-base", "gazebo-gazebo9-dev" ] }
 group "ignition" { targets = [ "ignition-fortress-base", "ignition-fortress-dev", "ignition-edifice-base", "ignition-edifice-dev", "ignition-dome-base", "ignition-dome-dev", "ignition-citadel-base", "ignition-citadel-dev" ] }
 group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev", "gz-garden-base", "gz-garden-dev", "gz-garden-cuda-base", "gz-garden-cuda-dev" ] }
@@ -1551,6 +1496,6 @@ group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base",
 # ---- all non-EOL targets ----
 group "default" {
   targets = [
-    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
+    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
   ]
 }
\ No newline at end of file
diff --git a/ros2/README.md b/ros2/README.md
index c2217887..b9bb10b2 100644
--- a/ros2/README.md
+++ b/ros2/README.md
@@ -22,14 +22,6 @@ rolling
 * [rolling-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 
-rolling-cuda
-  
-* [rolling-cuda-base](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-dev](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-
 lyrical
   
 * [lyrical-base](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
diff --git a/templates.yml b/templates.yml
index 18b515a3..b43deff5 100644
--- a/templates.yml
+++ b/templates.yml
@@ -78,21 +78,6 @@ dockerfiles:
       - target: gazebo
         platforms: ["linux/amd64"]
     base_image: "ubuntu:26.04"
-  - family: "ros2"
-    name: rolling-cuda
-    distro: rolling
-    targets:
-      - target: base
-        platforms: ["linux/amd64"]
-      - target: dev
-        platforms: ["linux/amd64"]
-      - target: desktop
-        platforms: ["linux/amd64"]
-      - target: full
-        platforms: ["linux/amd64"]
-      - target: gazebo
-        platforms: ["linux/amd64"]
-    base_image: "nvidia/cuda:13.0.1-cudnn-runtime-ubuntu24.04"
   - family: "ros2"
     name: lyrical
     distro: lyrical

From 343100dab0531c497ff5f6aaa7d33b02d8d2ff3f Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Sat, 23 May 2026 10:01:12 -0700
Subject: [PATCH 3/5] try ubuntu 24 for rolling

---
 ros2/rolling.Dockerfile | 2 +-
 templates.yml           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ros2/rolling.Dockerfile b/ros2/rolling.Dockerfile
index c8c55ba4..a80d6a95 100644
--- a/ros2/rolling.Dockerfile
+++ b/ros2/rolling.Dockerfile
@@ -5,7 +5,7 @@
 ###########################################
 # Base image
 ###########################################
-FROM ubuntu:26.04 AS base
+FROM ubuntu:24.04 AS base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
diff --git a/templates.yml b/templates.yml
index b43deff5..ffa6c17b 100644
--- a/templates.yml
+++ b/templates.yml
@@ -77,7 +77,7 @@ dockerfiles:
         platforms: ["linux/amd64"]
       - target: gazebo
         platforms: ["linux/amd64"]
-    base_image: "ubuntu:26.04"
+    base_image: "ubuntu:24.04"
   - family: "ros2"
     name: lyrical
     distro: lyrical

From de881dfb0dee7ea1a93135d0788f4e43101effca Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Sat, 23 May 2026 10:38:34 -0700
Subject: [PATCH 4/5] remove rolling desktop

---
 docker-bake.hcl | 17 ++++-------------
 ros2/README.md  |  1 -
 templates.yml   |  2 --
 3 files changed, 4 insertions(+), 16 deletions(-)

diff --git a/docker-bake.hcl b/docker-bake.hcl
index 13e0ddf4..b0a84bf7 100644
--- a/docker-bake.hcl
+++ b/docker-bake.hcl
@@ -231,15 +231,6 @@ target "ros2-rolling-dev" {
   ]
 }
 
-target "ros2-rolling-desktop" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "desktop"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-desktop",
-  ]
-}
-
 target "ros2-rolling-full" {
   context    = "ros2"
   dockerfile = "rolling.Dockerfile"
@@ -260,7 +251,7 @@ target "ros2-rolling-gazebo" {
 
 # ---- group for all ros2-rolling  ----
 group "ros2-rolling" {
-  targets = ["ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo"]
+  targets = ["ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo"]
 }
 
 # ----------- targets for ros2-lyrical -----------
@@ -1385,7 +1376,7 @@ group "ros-kinetic-linux-amd64" { targets = [ "ros-kinetic-base", "ros-kinetic-d
 group "ros-kinetic-linux-arm64" { targets = [ "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full" ] }
 
 
-group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo" ] }
+group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo" ] }
 group "ros2-rolling-linux-arm64" { targets = [ "ros2-rolling-base" ] }
 
 
@@ -1488,7 +1479,7 @@ group "gz-garden-cuda-linux-amd64" { targets = [ "gz-garden-cuda-base", "gz-gard
 # ---------- Family-level groups (e.g., ros2, gz, ignition) ----------
 
 group "ros" { targets = [ "ros-noetic-base", "ros-noetic-dev", "ros-noetic-desktop", "ros-noetic-full", "ros-noetic-gazebo", "ros-melodic-base", "ros-melodic-dev", "ros-melodic-desktop", "ros-melodic-full", "ros-melodic-gazebo", "ros-lunar-base", "ros-lunar-dev", "ros-lunar-desktop", "ros-lunar-full", "ros-lunar-gazebo", "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full", "ros-kinetic-gazebo" ] }
-group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
+group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
 group "gazebo" { targets = [ "gazebo-gazebo11-base", "gazebo-gazebo11-dev", "gazebo-gazebo10-base", "gazebo-gazebo10-dev", "gazebo-gazebo9-base", "gazebo-gazebo9-dev" ] }
 group "ignition" { targets = [ "ignition-fortress-base", "ignition-fortress-dev", "ignition-edifice-base", "ignition-edifice-dev", "ignition-dome-base", "ignition-dome-dev", "ignition-citadel-base", "ignition-citadel-dev" ] }
 group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev", "gz-garden-base", "gz-garden-dev", "gz-garden-cuda-base", "gz-garden-cuda-dev" ] }
@@ -1496,6 +1487,6 @@ group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base",
 # ---- all non-EOL targets ----
 group "default" {
   targets = [
-    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
+    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
   ]
 }
\ No newline at end of file
diff --git a/ros2/README.md b/ros2/README.md
index b9bb10b2..fc356521 100644
--- a/ros2/README.md
+++ b/ros2/README.md
@@ -18,7 +18,6 @@ rolling
   
 * [rolling-base](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-dev](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 
diff --git a/templates.yml b/templates.yml
index ffa6c17b..2f134efe 100644
--- a/templates.yml
+++ b/templates.yml
@@ -71,8 +71,6 @@ dockerfiles:
         platforms: ["linux/amd64", "linux/arm64"]
       - target: dev
         platforms: ["linux/amd64"]
-      - target: desktop
-        platforms: ["linux/amd64"]
       - target: full
         platforms: ["linux/amd64"]
       - target: gazebo

From 327d2775494a2c08dafdc4a7b9311cfdc9494e10 Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Sat, 23 May 2026 10:46:26 -0700
Subject: [PATCH 5/5] remove more from rolling

---
 docker-bake.hcl | 26 ++++----------------------
 ros2/README.md  |  2 --
 templates.yml   |  4 ----
 3 files changed, 4 insertions(+), 28 deletions(-)

diff --git a/docker-bake.hcl b/docker-bake.hcl
index b0a84bf7..5d220f44 100644
--- a/docker-bake.hcl
+++ b/docker-bake.hcl
@@ -231,27 +231,9 @@ target "ros2-rolling-dev" {
   ]
 }
 
-target "ros2-rolling-full" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "full"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-full",
-  ]
-}
-
-target "ros2-rolling-gazebo" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "gazebo"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-gazebo",
-  ]
-}
-
 # ---- group for all ros2-rolling  ----
 group "ros2-rolling" {
-  targets = ["ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo"]
+  targets = ["ros2-rolling-base", "ros2-rolling-dev"]
 }
 
 # ----------- targets for ros2-lyrical -----------
@@ -1376,7 +1358,7 @@ group "ros-kinetic-linux-amd64" { targets = [ "ros-kinetic-base", "ros-kinetic-d
 group "ros-kinetic-linux-arm64" { targets = [ "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full" ] }
 
 
-group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo" ] }
+group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev" ] }
 group "ros2-rolling-linux-arm64" { targets = [ "ros2-rolling-base" ] }
 
 
@@ -1479,7 +1461,7 @@ group "gz-garden-cuda-linux-amd64" { targets = [ "gz-garden-cuda-base", "gz-gard
 # ---------- Family-level groups (e.g., ros2, gz, ignition) ----------
 
 group "ros" { targets = [ "ros-noetic-base", "ros-noetic-dev", "ros-noetic-desktop", "ros-noetic-full", "ros-noetic-gazebo", "ros-melodic-base", "ros-melodic-dev", "ros-melodic-desktop", "ros-melodic-full", "ros-melodic-gazebo", "ros-lunar-base", "ros-lunar-dev", "ros-lunar-desktop", "ros-lunar-full", "ros-lunar-gazebo", "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full", "ros-kinetic-gazebo" ] }
-group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
+group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
 group "gazebo" { targets = [ "gazebo-gazebo11-base", "gazebo-gazebo11-dev", "gazebo-gazebo10-base", "gazebo-gazebo10-dev", "gazebo-gazebo9-base", "gazebo-gazebo9-dev" ] }
 group "ignition" { targets = [ "ignition-fortress-base", "ignition-fortress-dev", "ignition-edifice-base", "ignition-edifice-dev", "ignition-dome-base", "ignition-dome-dev", "ignition-citadel-base", "ignition-citadel-dev" ] }
 group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev", "gz-garden-base", "gz-garden-dev", "gz-garden-cuda-base", "gz-garden-cuda-dev" ] }
@@ -1487,6 +1469,6 @@ group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base",
 # ---- all non-EOL targets ----
 group "default" {
   targets = [
-    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
+    "ros2-rolling-base", "ros2-rolling-dev", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
   ]
 }
\ No newline at end of file
diff --git a/ros2/README.md b/ros2/README.md
index fc356521..756cc464 100644
--- a/ros2/README.md
+++ b/ros2/README.md
@@ -18,8 +18,6 @@ rolling
   
 * [rolling-base](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-dev](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 
 lyrical
   
diff --git a/templates.yml b/templates.yml
index 2f134efe..e944943f 100644
--- a/templates.yml
+++ b/templates.yml
@@ -71,10 +71,6 @@ dockerfiles:
         platforms: ["linux/amd64", "linux/arm64"]
       - target: dev
         platforms: ["linux/amd64"]
-      - target: full
-        platforms: ["linux/amd64"]
-      - target: gazebo
-        platforms: ["linux/amd64"]
     base_image: "ubuntu:24.04"
   - family: "ros2"
     name: lyrical