Lyra Erso is a human explorer and surveyor, wife of Galen Erso and mother of Jyn. She first appears in James Luceno's Catalyst: A Rogue One Novel (Del Rey, 2016) and is played by Valene Kane in Rogue One (2016). The novel makes her the family's moral clear-sightedness: she distrusts Orson Krennic's patronage from the outset, recognises that Galen's kyber research is being turned into a weapon while he is still insisting it is not, and forces the family's flight to Lah'mu. When Krennic finds them she draws a blaster rather than surrender, wounds him, and is shot dead in front of her daughter. Her belief in the Force — unusual for a civilian in this period — is the source of the kyber crystal Jyn wears for the whole film. Current canon.
Catalogue entry. This figure has a verified record here rather than a full write-up — the encyclopedia labels its own depth instead of padding it.