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[Lyrical] Switch Linux CI to apt-deb install and bump Windows zip (#1516)

Per the official Lyrical install guide (https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html), ROS 2 Lyrical is now available as Debian packages on Ubuntu 26.04. Switch all four Linux workflows to `apt-get install -y ros-lyrical-desktop` and drop the date-stamped beta tarball that had to be hand-refreshed every time upstream produced a new snapshot. The test workflows also install `ros-lyrical-test-msgs`; `ros-lyrical-mrpt-msgs` is omitted because it is not yet published for lyrical (the previous tarball path skipped both packages on lyrical too, so the test suite already tolerates its absence). Removes the `curl | tar xf` extract step, the `rosdep init/update/install` chain with its long `--skip-keys` list, and the `tar`, `bzip2`, `python3-rosdep` packages they required. Rolling continues to use the nightly tarball; humble/jazzy/kilted continue to use `ros-tooling/setup-ros@v0.7`, which does not yet recognize lyrical.

On `linux-arm64-build-and-test.yml`, `sudo` is also added to the lyrical apt prerequisites: the job runs in a bare `ubuntu:26.04` container, and the downstream "Install Electron test dependencies" and "Fix permissions" steps shell out to `sudo apt …` / `sudo chown …`. The other distros get `sudo` implicitly via `ros-tooling/setup-ros`; lyrical takes the manual apt path, so it needs to be installed explicitly. Without this, the lyrical arm64 job failed with `sudo: command not found` (exit code 127).

Windows still has no apt equivalent and continues to use the binary zip, but its lyrical URL is bumped from the `release-lyrical-beta-20260430` snapshot to `release-lyrical-20260522`.

Fix: #1458

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