Robot Environment and Precedence#
When a PAL robot boots, it automatically sources three distinct ROS 2 workspaces. The order in which they are sourced determines which version of a package is used if duplicates exist.
Priority |
Path |
Description |
|---|---|---|
1 (Highest) |
|
Deployment Workspace: Target for the deploy tool. |
2 (Medium) |
|
PAL Distribution: PAL-specific libraries and nodes. |
3 (Lowest) |
|
Base Distribution: Official ROS 2 Humble packages. |
Because /home/pal/deployed_ws is sourced last (top-level), it overlays the other two locations. Any package installed here will be the one executed by the system.
Adding a new workspace#
To change the workspace source procedure, for example to add a new ROS workspace, you have to modify the file /usr/bin/init-pal-env, e.g., to adapt the environment of the startup process.
What is launched at startup and how#
The startup is done with the PAL Module Manager.