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SOFTWARE / WORKSPACES
THE TWO WORKSPACES.
The car carries two ROS 2 workspaces, and each terminal uses one at a time.
01 / WHAT THEY ARE
NEORACER AND OSRACER.
| neoracer (default) | osracer | |
|---|---|---|
| Path | ~/ros2_ws | ~/osracer_ws |
| What it runs | The driver, the services, rc.* programs | SLAM (mapping) and Nav2 (navigation) |
| Used on | Every page of these docs unless said otherwise | Mapping and Navigation |
02 / SWITCHING
SWITCH WITH RACECAR WS.
bashracecar ws osracer # this terminal now uses the osracer workspace racecar ws neoracer # back to the default
The switch applies to the current terminal only. New terminals start on neoracer.
03 / RUNNING THE OSRACER STACK
ONE STACK AT A TIME.
Both stacks talk to the same hardware, so stop the services first. Then launch the osracer bringup, which starts the base the stack needs (chassis, LiDAR, robot description) and stays running while you use it. Mapping and Navigation launches run in a second terminal on top of it.
bash# terminal 1: the base. Leave this running. racecar service stop racecar ws osracer ros2 launch osracer_bringup bringup.launch.py # terminal 2: mapping or navigation, from those pages racecar ws osracer ros2 launch osracer_slam slam_toolbox.launch.py # when you are done: Ctrl-C both, then racecar service start