diff --git a/.github/workflows/linux-arm64-build-and-test.yml b/.github/workflows/linux-arm64-build-and-test.yml
index 02a566cb..ea5304b1 100644
--- a/.github/workflows/linux-arm64-build-and-test.yml
+++ b/.github/workflows/linux-arm64-build-and-test.yml
@@ -73,12 +73,9 @@ jobs:
       if: ${{ matrix.ros_distribution == 'lyrical' }}
       run: |
         # Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
-        apt-get install -y \
-          ros-lyrical-desktop \
-          ros-lyrical-test-msgs
+        apt-get install -y ros-lyrical-desktop
 
     - name: Install test-msgs and mrpt_msgs on Linux
-      if: ${{ matrix.ros_distribution != 'lyrical' }}
       run: |
         sudo apt install -y ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
 
diff --git a/.github/workflows/linux-x64-build-and-test.yml b/.github/workflows/linux-x64-build-and-test.yml
index ee91b0ac..a389fd72 100644
--- a/.github/workflows/linux-x64-build-and-test.yml
+++ b/.github/workflows/linux-x64-build-and-test.yml
@@ -85,9 +85,7 @@ jobs:
       if: ${{ matrix.ros_distribution == 'lyrical' }}
       run: |
         # Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
-        apt-get install -y \
-          ros-lyrical-desktop \
-          ros-lyrical-test-msgs
+        apt-get install -y ros-lyrical-desktop
 
     - name: Install ROS2 from binary tarball (rolling)
       if: ${{ matrix.ros_distribution == 'rolling' }}
@@ -108,7 +106,7 @@ jobs:
         rosdep install --rosdistro ${{ matrix.ros_distribution }} --from-paths /opt/ros/${{ matrix.ros_distribution }}/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastdds iceoryx_binding_c rmw_connextdds rti-connext-dds-7.3.0 rti-connext-dds-7.7.0 urdfdom_headers python3-pyqt6.qtsvg rosidl_buffer_py pybind11"
 
     - name: Install test-msgs and mrpt_msgs on Linux
-      if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
+      if: ${{ matrix.ros_distribution != 'rolling' }}
       run: |
         sudo apt install -y ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs