ROS 2 relies on the notion of combining workspaces using the shell environment. “Workspace” is a ROS term for the location on your system where you’re developing with ROS 2. The core ROS 2 workspace is called the underlay. Subsequent local workspaces are called overlays. When developing with ROS 2, you will typically have several workspaces active concurrently.
ROS 2依赖于使用shell环境组合工作区的概念。“工作区”是一个ROS术语，指的是您在系统上使用ROS 2进行开发的位置。核心ROS 2工作空间称为底层。随后的本地工作区称为覆盖层。在使用ROS 2进行开发时，通常会同时有几个活动工作区。
Combining workspaces makes developing against different versions of ROS 2, or against different sets of packages, easier. It also allows the installation of several ROS 2 distributions (or “distros”, e.g. Dashing and Eloquent) on the same computer and switching between them.
组合工作区使得针对不同版本的ROS 2或针对不同的包集进行开发变得更加容易。它还允许在同一台计算机上安装多个ROS 2发行版(或“发行版”，例如:smashing和Eloquent)并在它们之间切换。
This is accomplished by sourcing setup files every time you open a new shell, or by adding the source command to your shell startup script once. Without sourcing the setup files, you won’t be able to access ROS 2 commands, or find or use ROS 2 packages. In other words, you won’t be able to use ROS 2.
这可以通过在每次打开一个新shell时查找设置文件，或者向shell启动脚本添加一次源命令来实现。如果没有找到安装文件，您将无法访问ROS 2命令，也无法找到或使用ROS 2包。换句话说，你将不能使用ROS 2。
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