Clearpath provides us with a couple of daemons which bring up the robot base, sensors, and autogenerates some code. We want to disable these services so we can have full control of the robot for customizations and additional bringup procedures. Note that the colcon_ws in the root directory is where some of the code here resides, but also in autogenerated sources. Thus, it is recommended not to touch the colcon_ws or /etc/clearpath directories such that it is possible to reactive these services in the future and restore a on-shipment configuration.
You can find the set of services running from clearpath via sudo systemctl | grep clearpath which should provide you with the following
administrator@cpr-j100-0849:~$ systemctl | grep clearpath
clearpath-platform.service loaded active running "Clearpath robot sub-service, launch all platform nodes"
clearpath-robot.service loaded active running "Clearpath robot main generation and bringup service"
clearpath-sensors.service loaded active running "Clearpath robot sub-service, launch all sensor nodes"
You should stop these services via
sudo systemctl stop clearpath-platform.service
sudo systemctl stop clearpath-sensors.service
sudo systemctl stop clearpath-robot.service
The same can be done to permanently disable them so they do not startup on hardware boot
sudo systemctl disable clearpath-platform.service
sudo systemctl disable clearpath-sensors.service
sudo systemctl disable clearpath-robot.service
These can be later enabled or started up again, as desired.