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Install test-msgs and mrpt-msgs uniformly across all ROS 2 distros (#1518)

Drop the lyrical-specific `ros-lyrical-test-msgs` / `ros-lyrical-mrpt-msgs` lines from the "Install ROS2 from apt (lyrical)" step and instead let the shared "Install test-msgs and mrpt_msgs on Linux" step handle them, the same way it already does for humble / jazzy / kilted. Keep the `!= 'rolling'` gate on the shared step because `packages.ros.org` does not publish `ros-rolling-*` debs for the `resolute` (Ubuntu 26.04) codename — Rolling remains tarball-only there.

- `.github/workflows/linux-x64-build-and-test.yml` — extend the shared step to lyrical; trim the lyrical apt step to `ros-lyrical-desktop` only.
- `.github/workflows/linux-arm64-build-and-test.yml` — same trim; the shared step has no `if:` here because arm64 has no rolling lane.

Refs: a3bb702 ("Add ROS 2 Lyrical Luth (#1496)")

Fix: #1458

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