diff --git a/.github/workflows/debian-packages.yml b/.github/workflows/debian-packages.yml
index 186d2cc..be90238 100644
--- a/.github/workflows/debian-packages.yml
+++ b/.github/workflows/debian-packages.yml
@@ -24,7 +24,7 @@ on:
   workflow_dispatch:  # Manual trigger
     inputs:
       ros_distros:
-        description: 'ROS distributions to build (comma-separated: humble,iron,jazzy,kilted,rolling)'
+        description: 'ROS distributions to build (comma-separated: humble,iron,jazzy,lyrical,kilted,rolling)'
         required: false
   schedule:
     - cron: '0 2 * * *'  # Nightly at 2 AM UTC
@@ -44,10 +44,10 @@ jobs:
       run: |
         if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
           # Manual trigger - use input or default
-          DISTROS="${{ github.event.inputs.ros_distros || 'humble,iron,jazzy,kilted,rolling' }}"
+          DISTROS="${{ github.event.inputs.ros_distros || 'humble,iron,jazzy,lyrical,kilted,rolling' }}"
         else
           # Always build all distributions
-          DISTROS="humble,iron,jazzy,kilted,rolling"
+          DISTROS="humble,iron,jazzy,lyrical,kilted,rolling"
         fi
         echo "Building for distributions: $DISTROS"
         # Convert to JSON array for matrix
@@ -72,6 +72,8 @@ jobs:
             ubuntu_distro: jammy
           - ros_distro: jazzy
             ubuntu_distro: noble
+          - ros_distro: lyrical
+            ubuntu_distro: resolute
           - ros_distro: kilted
             ubuntu_distro: noble
           - ros_distro: rolling
@@ -114,6 +116,8 @@ jobs:
             ubuntu_distro: jammy
           - ros_distro: jazzy
             ubuntu_distro: noble
+          - ros_distro: lyrical
+            ubuntu_distro: resolute
           - ros_distro: kilted
             ubuntu_distro: noble
           - ros_distro: rolling
@@ -232,6 +236,7 @@ jobs:
 
         # Install Python dependencies
         if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
+              "${{ matrix.ros_distro }}" == "lyrical" || \
               "${{ matrix.ros_distro }}" == "kilted" || \
               "${{ matrix.ros_distro }}" == "rolling" ]]; then
           pip3 install --break-system-packages --ignore-installed pygments textual
diff --git a/.github/workflows/ros-tests.yml b/.github/workflows/ros-tests.yml
index 0997336..2c46df1 100644
--- a/.github/workflows/ros-tests.yml
+++ b/.github/workflows/ros-tests.yml
@@ -54,6 +54,8 @@ jobs:
             ubuntu_distro: jammy
           - ros_distro: jazzy
             ubuntu_distro: noble
+          - ros_distro: lyrical
+            ubuntu_distro: resolute
           - ros_distro: kilted
             ubuntu_distro: noble
           - ros_distro: rolling
@@ -122,6 +124,7 @@ jobs:
         source /opt/ros/${{ matrix.ros_distro }}/setup.bash
         source install/setup.bash
         if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
+              "${{ matrix.ros_distro }}" == "lyrical" || \
               "${{ matrix.ros_distro }}" == "kilted" || \
               "${{ matrix.ros_distro }}" == "rolling" ]]; then
           pip3 install --break-system-packages --ignore-installed pygments -r r2s_gw/requirements.txt
diff --git a/README.md b/README.md
index e6a5a57..e0f1160 100644
--- a/README.md
+++ b/README.md
@@ -21,7 +21,7 @@ For implementation details and inline integration guidance, see
 
 ## Compatibility
 
-Greenwave monitor is a standalone package tested on Humble, Iron, Jazzy, Kilted, and Rolling ROS 2 releases, under Ubuntu 22.04 and Ubuntu 24.04. It does not depend on Isaac ROS. It does however play nicely with Isaac ROS NITROS diagnostics, see [`docs/DESIGN_AND_IMPLEMENTATION.md`](docs/DESIGN_AND_IMPLEMENTATION.md) for more.
+Greenwave monitor is a standalone package tested on Humble, Iron, Jazzy, Lyrical, Kilted, and Rolling ROS 2 releases, under Ubuntu 22.04, Ubuntu 24.04, and Ubuntu 26.04. It does not depend on Isaac ROS. It does however play nicely with Isaac ROS NITROS diagnostics, see [`docs/DESIGN_AND_IMPLEMENTATION.md`](docs/DESIGN_AND_IMPLEMENTATION.md) for more.
 
 ## Installation
 
diff --git a/scripts/build_debian_packages.sh b/scripts/build_debian_packages.sh
index f1942a9..8bd81b6 100755
--- a/scripts/build_debian_packages.sh
+++ b/scripts/build_debian_packages.sh
@@ -23,17 +23,18 @@
 #
 # Usage: ./scripts/build_debian_packages.sh [ROS_DISTRO] [UBUNTU_DISTRO]
 # Examples:
-#   ./scripts/build_debian_packages.sh                    # Uses defaults (humble/jammy)
+#   ./scripts/build_debian_packages.sh                    # Uses defaults (lyrical/resolute)
 #   ./scripts/build_debian_packages.sh humble jammy      # ROS Humble on Ubuntu 22.04
 #   ./scripts/build_debian_packages.sh jazzy noble       # ROS Jazzy on Ubuntu 24.04
+#   ./scripts/build_debian_packages.sh lyrical resolute  # ROS Lyrical on Ubuntu 26.04
 #   ./scripts/build_debian_packages.sh rolling resolute  # ROS Rolling on Ubuntu 26.04
 #
 # Docker Usage (Recommended):
 #   docker run -it --rm -v $(pwd):/workspace -w /workspace \
-#     ubuntu:jammy ./scripts/build_debian_packages.sh humble jammy
+#     ubuntu:resolute ./scripts/build_debian_packages.sh lyrical resolute
 #
 # Supported combinations:
-#   humble/jammy, iron/jammy, jazzy/noble, kilted/noble, rolling/resolute
+#   humble/jammy, iron/jammy, jazzy/noble, lyrical/resolute, kilted/noble, rolling/resolute
 #
 # Output: Debian packages will be created in debian_packages/[ROS_DISTRO]/
 # Install: sudo apt install ./debian_packages/[ROS_DISTRO]/*.deb
@@ -41,8 +42,8 @@
 set -eo pipefail
 
 # Default values
-DEFAULT_ROS_DISTRO="humble"
-DEFAULT_UBUNTU_DISTRO="jammy"
+DEFAULT_ROS_DISTRO="lyrical"
+DEFAULT_UBUNTU_DISTRO="resolute"
 
 # Parse arguments
 ROS_DISTRO="${1:-$DEFAULT_ROS_DISTRO}"
@@ -50,10 +51,10 @@ UBUNTU_DISTRO="${2:-$DEFAULT_UBUNTU_DISTRO}"
 
 # Validate ROS distro
 case "$ROS_DISTRO" in
-humble | iron | jazzy | kilted | rolling) ;;
+humble | iron | jazzy | lyrical | kilted | rolling) ;;
 *)
 	echo "Error: Unsupported ROS distro: $ROS_DISTRO"
-	echo "Supported distros: humble, iron, jazzy, kilted, rolling"
+	echo "Supported distros: humble, iron, jazzy, lyrical, kilted, rolling"
 	exit 1
 	;;
 esac
@@ -110,7 +111,7 @@ echo "Installing build dependencies..."
 
 # Check if we need --break-system-packages for pip
 USE_BREAK_SYSTEM_PACKAGES=""
-if [[ "$ROS_DISTRO" == "jazzy" || "$ROS_DISTRO" == "kilted" || "$ROS_DISTRO" == "rolling" ]]; then
+if [[ "$ROS_DISTRO" == "jazzy" || "$ROS_DISTRO" == "lyrical" || "$ROS_DISTRO" == "kilted" || "$ROS_DISTRO" == "rolling" ]]; then
 	USE_BREAK_SYSTEM_PACKAGES="--break-system-packages"
 fi
 
diff --git a/scripts/docker-test.sh b/scripts/docker-test.sh
index ee8e3ce..dc1b213 100755
--- a/scripts/docker-test.sh
+++ b/scripts/docker-test.sh
@@ -22,8 +22,8 @@
 
 set -e
 
-# Default to Humble if no distro specified
-DISTRO=${1:-humble}
+# Default to Lyrical if no distro specified
+DISTRO=${1:-lyrical}
 
 # Image mapping based on ROS distro
 case $DISTRO in
@@ -36,6 +36,9 @@ iron)
 jazzy)
 	IMAGE="ros:jazzy-ros-base-noble"
 	;;
+lyrical)
+	IMAGE="ros:lyrical-ros-base-resolute"
+	;;
 kilted)
 	IMAGE="ros:kilted-ros-base-noble"
 	;;
@@ -44,7 +47,7 @@ rolling)
 	;;
 *)
 	echo "Unsupported ROS 2 distribution: $DISTRO"
-	echo "Supported: humble, iron, jazzy, kilted, rolling"
+	echo "Supported: humble, iron, jazzy, lyrical, kilted, rolling"
 	exit 1
 	;;
 esac
@@ -72,7 +75,7 @@ docker run -it --rm \
         apt-get update -qq && apt-get install -y build-essential python3-pip
 
         # Install Python requirements based on ROS distro
-        if [[ '${DISTRO}' == 'jazzy' || '${DISTRO}' == 'kilted' || '${DISTRO}' == 'rolling' ]]; then
+        if [[ '${DISTRO}' == 'jazzy' || '${DISTRO}' == 'lyrical' || '${DISTRO}' == 'kilted' || '${DISTRO}' == 'rolling' ]]; then
             pip3 install --break-system-packages -I pygments -r /workspace/src/greenwave_monitor/r2s_gw/requirements.txt
         else
             pip3 install -r /workspace/src/greenwave_monitor/r2s_gw/requirements.txt