diff --git a/agv_app/stop_all.sh b/agv_app/stop_all.sh
new file mode 100644
index 0000000..f07a9c7
--- /dev/null
+++ b/agv_app/stop_all.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+# stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
+
+echo "正在停止 AGV 系统..."
+
+# 1. 关闭 Flask 主程序
+echo "[1/3] 关闭 Flask 服务..."
+pkill -f "python3 app.py" 2>/dev/null
+sleep 1
+
+# 2. 关闭 ROS2 bringup（杀掉整个 start.sh 及其子进程）
+echo "[2/3] 关闭 ROS2 bringup..."
+# 用 pkill 杀掉 agv_pro_bringup 相关进程
+pkill -f "agv_pro_bringup" 2>/dev/null
+pkill -f "agv_pro_navigation2" 2>/dev/null
+# 如果 bringup 是由 start.sh 启动的，杀掉 start.sh 进程树
+pkill -f "start.sh" 2>/dev/null
+pkill -f "bringup" 2>/dev/null
+sleep 1
+
+# 3. 清理 ROS2 daemon（防止残留）
+echo "[3/3] 清理 ROS2 daemon..."
+source /opt/ros/humble/setup.bash 2>/dev/null
+ros2 daemon stop 2>/dev/null || true
+
+# 确保所有相关进程都已停止
+sleep 1
+remaining=$(ps aux | grep -E "python3 app.py|agv_pro_bringup|agv_pro_navigation2|navigation2" | grep -v grep | wc -l)
+if [ "$remaining" -eq 0 ]; then
+    echo "✅ 所有进程已关闭"
+else
+    echo "⚠️ 仍有 $remaining 个进程残留，已强制终止"
+    pkill -9 -f "python3 app.py" 2>/dev/null
+    pkill -9 -f "agv_pro_bringup" 2>/dev/null
+    pkill -9 -f "agv_pro_navigation2" 2>/dev/null
+fi
+
+echo "停止完成"
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