diff --git a/.github/workflows/fork_checker.yml b/.github/workflows/fork_checker.yml
index 67fe8668..7a462451 100644
--- a/.github/workflows/fork_checker.yml
+++ b/.github/workflows/fork_checker.yml
@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            branches: [humble, jazzy, kilted, rolling]
+            branches: [humble, jazzy, kilted, lyrical, rolling]
         steps:
           - name: Check
             id: check
diff --git a/.github/workflows/lyrical-ci.yml b/.github/workflows/lyrical-ci.yml
new file mode 100644
index 00000000..17c074f0
--- /dev/null
+++ b/.github/workflows/lyrical-ci.yml
@@ -0,0 +1,16 @@
+name: rcutils CI Lyrical
+
+on:
+  push:
+    branches: [ lyrical ]
+  pull_request:
+    branches: [ lyrical ]
+
+jobs:
+  lyrical-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: ${{ github.ref }}
+      os: ubuntu-26.04
+      docker-image: ubuntu:resolute
+      ros-distribution: lyrical
diff --git a/.github/workflows/reusable-ci.yml b/.github/workflows/reusable-ci.yml
index 1ac5f175..98977e55 100644
--- a/.github/workflows/reusable-ci.yml
+++ b/.github/workflows/reusable-ci.yml
@@ -40,7 +40,7 @@ jobs:
         submodules: recursive
 
     - name: Setup ROS 2 
-      uses: ros-tooling/setup-ros@0.7.15
+      uses: ros-tooling/setup-ros@0.7.19
       with:
         required-ros-distributions: ${{ inputs.ros-distribution }}
 
@@ -49,7 +49,7 @@ jobs:
         apt-get install ros-${{ inputs.ros-distribution }}-mimick-vendor
         apt-get -y install ros-${{ inputs.ros-distribution }}-performance-test-fixture
 
-    - uses : ros-tooling/action-ros-ci@0.4.5
+    - uses : ros-tooling/action-ros-ci@0.4.8
       with:
         package-name: "rcutils"
         target-ros2-distro: ${{ inputs.ros-distribution }}
diff --git a/.github/workflows/weekly-ci.yml b/.github/workflows/weekly-ci.yml
index 15fe99bd..99a0a66f 100644
--- a/.github/workflows/weekly-ci.yml
+++ b/.github/workflows/weekly-ci.yml
@@ -28,6 +28,13 @@ jobs:
       os: ubuntu-24.04
       docker-image: ubuntu:noble
       ros-distribution: kilted
+  lyrical-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: lyrical
+      os: ubuntu-26.04
+      docker-image: ubuntu:resolute
+      ros-distribution: lyrical
   rolling-ci:
     uses: ./.github/workflows/reusable-ci.yml
     with: