Refactor ROS startup scripts
This commit is contained in:
+123
-240
@@ -1,351 +1,233 @@
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#!/bin/bash
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# ============================================================
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# Robot AGV 全量启动脚本 v4.0
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# Robot AGV 全量启动脚本 v5.0
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# 修复：
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# - v5.0: 使用公共库重构，减少代码重复
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# - v4.0: 彻底杀死 ros2 daemon 进程 + 启动前进程数量检查
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# - v3.0: 彻底清理 FastRTPS 共享内存文件（永久修复 DDS 通信问题）
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# - v2.7: 添加 ROS_DOMAIN_ID 环境变量传递
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# - v2.6: 清理 scan_fixer lock 文件防残留
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# ============================================================
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set -e
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set -euo pipefail
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# ---- 可配置项（环境变量覆盖默认值） ----
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# 加载公共库
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$PROJECT_DIR}"
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AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
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AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
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ROS_DISTRO="${ROS_DISTRO:-humble}"
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ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
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ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
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SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
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FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
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LOG_DIR="${LOG_DIR:-/tmp}"
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LOCK_DIR="${LOCK_DIR:-/tmp}"
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FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
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AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
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ROS_DOMAIN_ID_VAL=1
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source "$SCRIPT_DIR/ros-common.sh"
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BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
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NAV2_LOG="$LOG_DIR/ros2_nav2.log"
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CLOCK_LOG="$LOG_DIR/clock_publisher.log"
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SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
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FLASK_LOG="$LOG_DIR/agv_flask.log"
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# ============================================================================
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# 主流程
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# ============================================================================
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mkdir -p "$LOG_DIR"
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section "Robot AGV 全量启动 v5.0"
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echo "=========================================="
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echo " Robot AGV 全量启动 v4.0"
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echo "=========================================="
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echo ""
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# ============================================================================
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# 1. 清理旧环境
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# ============================================================================
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step "1/8" "清理旧进程和共享内存"
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# ---------- 1. 清理旧进程 + FastRTPS 共享内存 ----------
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echo "[1/8] 清理旧进程和共享内存..."
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kill_all_soft
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kill_all_hard
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stop_ros2_daemon
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cleanup_fastrtps
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# 杀掉所有相关进程（先软杀，再硬杀确保干净）
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pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
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pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
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pkill -f "agv_pro_node" 2>/dev/null || true
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pkill -f "lslidar_driver_node" 2>/dev/null || true
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pkill -f "component_container" 2>/dev/null || true
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pkill -f "robot_state_publisher" 2>/dev/null || true
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pkill -f "fix_scan_timestamp" 2>/dev/null || true
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pkill -f "clock_publisher" 2>/dev/null || true
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pkill -f "python.*app.py" 2>/dev/null || true
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pkill -f "uv run .*python app.py" 2>/dev/null || true
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sleep 2
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# 【关键】硬杀确保干净
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echo " 硬杀残留进程..."
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pkill -9 -f "agv_pro_node" 2>/dev/null || true
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pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
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pkill -9 -f "component_container" 2>/dev/null || true
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pkill -9 -f "clock_publisher" 2>/dev/null || true
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pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
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pkill -9 -f "app.py" 2>/dev/null || true
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sleep 1
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# 【关键】杀死 ros2 daemon 进程本身（不是只 stop，而是杀进程）
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echo " 重置 ros2 daemon..."
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pkill -f "ros2-daemon" 2>/dev/null || true
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pkill -9 -f "ros2-daemon" 2>/dev/null || true
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sleep 2
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# 【关键】清理 FastRTPS 共享内存文件（杀进程后立即清理）
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echo " 清理 FastRTPS 共享内存文件..."
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FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
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if [ "$FASTRTPS_COUNT" -gt 0 ]; then
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rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
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echo " 已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
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else
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echo " 无 FastRTPS 文件残留"
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fi
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# 清理 scan_fixer 锁文件
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rm -f "$LOCK_DIR/scan_fixer.lock"
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# 【关键】验证进程已全部停止
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# 验证进程已停止
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echo " 验证进程停止..."
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PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
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PROC_COUNT=$(count_residual_processes)
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echo " 残留进程数: $PROC_COUNT"
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if [ "$PROC_COUNT" -gt 0 ]; then
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echo " ⚠️ 仍有进程残留，强制终止..."
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pkill -9 -f "agv_pro_node" 2>/dev/null || true
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pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
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pkill -9 -f "component_container" 2>/dev/null || true
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pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
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pkill -9 -f "app.py" 2>/dev/null || true
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sleep 2
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PROC_COUNT2=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
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echo " 清理后残留: $PROC_COUNT2"
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echo " [WARN] 仍有进程残留，再次强制终止..."
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kill_all_hard
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PROC_COUNT=$(count_residual_processes)
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echo " 清理后残留: $PROC_COUNT"
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fi
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echo " ✅ 清理完成"
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info "ok" "清理完成"
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# ---------- 2. 启动 ros2 daemon ----------
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echo "[2/8] 启动 ros2 daemon..."
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# ============================================================================
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# 2. 启动 ros2 daemon
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# ============================================================================
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step "2/8" "启动 ros2 daemon"
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source "$ROS_SETUP" 2>/dev/null || true
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# 再次确保没有残留共享内存（启动 daemon 前）
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rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
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# 使用 bash -c 确保环境变量正确传递
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nohup bash -c "source \"$ROS_SETUP\" && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
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sleep 4
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# 验证 daemon 是否就绪（用简单的 topic list 测试）
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DAEMON_OK=0
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for i in $(seq 1 5); do
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DAEMON_TOPICS=$(bash -c "source \"$ROS_SETUP\" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1" | wc -l || echo 0)
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if [ "$DAEMON_TOPICS" -gt 0 ]; then
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DAEMON_OK=1
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echo " ✅ ros2 daemon 就绪"
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break
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fi
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sleep 2
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done
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if [ "$DAEMON_OK" -eq 0 ]; then
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echo " ⚠️ ros2 daemon 可能有问题，继续尝试启动组件..."
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fi
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# ---------- 3. 启动 bringup (含激光雷达) ----------
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echo "[3/8] 启动 AGV Bringup..."
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source "$ROS_SETUP" 2>/dev/null || true
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# 【关键】启动前最后确认没有残留共享内存
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rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
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start_ros2_daemon || true
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# ============================================================================
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# 3. 启动 bringup (含激光雷达)
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# ============================================================================
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step "3/8" "启动 AGV Bringup"
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cd "$AGV_ROS2_DIR"
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source "$ROS_WORKSPACE_SETUP"
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nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" > "$BRINGUP_LOG" 2>&1 &
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rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
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nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
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ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" \
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> "$BRINGUP_LOG" 2>&1 &
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BRINGUP_PID=$!
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echo " bringup PID: $BRINGUP_PID"
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echo " 等待 bringup 就绪..."
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BRINGUP_OK=0
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for i in $(seq 1 20); do
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
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echo " ✅ bringup 已就绪 (${i}x2秒)"
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BRINGUP_OK=1
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break
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fi
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sleep 2
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done
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if [ "$BRINGUP_OK" -eq 0 ]; then
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echo " ⚠️ bringup 未检测到 /odom，继续启动后续组件..."
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tail -5 "$BRINGUP_LOG" 2>/dev/null || true
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fi
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# 等待 /odom 话题
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wait_for_topic /odom 40 || show_log_tail "$BRINGUP_LOG"
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# ---------- 3.5 启动系统时钟发布器 ----------
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echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
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# ============================================================================
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# 4. 启动系统时钟发布器
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# ============================================================================
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step "4/8" "启动系统时钟发布器 (clock_publisher)"
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nohup bash -c "source \"$ROS_SETUP\" && \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
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> "$CLOCK_LOG" 2>&1 &
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CLOCK_PID=$!
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echo " clock_publisher PID: $CLOCK_PID"
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sleep 2
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# 验证 /clock 话题
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/clock'; then
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echo " ✅ /clock 已上线"
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else
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echo " ⚠️ /clock 未上线，检查日志："
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tail -5 "$CLOCK_LOG" 2>/dev/null || true
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fi
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wait_for_topic /clock 10 || show_log_tail "$CLOCK_LOG"
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# ---------- 4. 启动激光时间戳修正节点 ----------
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echo "[4/8] 启动激光时间戳修正节点..."
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# ============================================================================
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# 5. 启动激光时间戳修正节点
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# ============================================================================
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step "5/8" "启动激光时间戳修正节点"
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# 确保 /scan 存在
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SCAN_OK=0
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for i in $(seq 1 10); do
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
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echo " /scan 话题已上线"
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SCAN_OK=1
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break
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fi
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sleep 2
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done
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if [ "$SCAN_OK" -eq 0 ]; then
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echo " ⚠️ /scan 未上线，检查 bringup 日志"
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# 先等待 /scan 话题
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if ! wait_for_topic /scan 20; then
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echo " [WARN] /scan 未上线，检查 bringup 日志"
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fi
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nohup bash -c "source \"$ROS_SETUP\" && \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
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> "$SCAN_FIXER_LOG" 2>&1 &
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FIXER_PID=$!
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echo " fix_scan_timestamp PID: $FIXER_PID"
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sleep 5
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# 验证 fixer 进程和 scan_corrected
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FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
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# 检查是否有多个 fixer 进程
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FIXER_COUNT=$(count_matching_processes "fix_scan_timestamp")
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if [ "$FIXER_COUNT" -gt 1 ]; then
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echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
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echo " [WARN] 发现 $FIXER_COUNT 个 fixer 进程，重启..."
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pkill -f "fix_scan_timestamp" 2>/dev/null || true
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pkill -f "clock_publisher" 2>/dev/null || true
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sleep 2
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rm -f "$LOCK_DIR/scan_fixer.lock"
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rm -f /tmp/scan_fixer.lock
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nohup bash -c "source \"$ROS_SETUP\" && \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
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> "$SCAN_FIXER_LOG" 2>&1 &
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FIXER_PID=$!
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sleep 3
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fi
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
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echo " ✅ /scan_corrected 已上线"
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else
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echo " ⚠️ /scan_corrected 未上线，检查日志："
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tail -5 "$SCAN_FIXER_LOG" 2>/dev/null || true
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fi
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wait_for_topic /scan_corrected 15 || show_log_tail "$SCAN_FIXER_LOG"
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# ---------- 5. 启动 Nav2 ----------
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echo "[5/8] 启动 Nav2 导航..."
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source "$ROS_SETUP" 2>/dev/null || true
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cd "$AGV_ROS2_DIR"
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source "$ROS_WORKSPACE_SETUP"
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# ============================================================================
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# 6. 启动 Nav2
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# ============================================================================
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step "6/8" "启动 Nav2 导航"
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nohup bash -c "source \"$ROS_SETUP\" && \
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source \"$ROS_WORKSPACE_SETUP\" && \
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export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
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ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
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autostart:=True" > "$NAV2_LOG" 2>&1 &
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nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
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export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
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ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True" \
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> "$NAV2_LOG" 2>&1 &
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NAV2_PID=$!
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echo " Nav2 PID: $NAV2_PID"
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sleep 12
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echo " 等待 Nav2 节点就绪..."
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NAV2_OK=0
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for i in $(seq 1 15); do
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NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
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grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
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NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
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if [ "$NODES" -ge 3 ] 2>/dev/null; then
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echo " ✅ Nav2 节点已就绪 ($NODES 个)"
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NAV2_OK=1
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break
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fi
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sleep 3
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done
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if [ "$NAV2_OK" -eq 0 ]; then
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echo " ⚠️ Nav2 节点未完全就绪，继续..."
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fi
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wait_for_nodes 'lifecycle_manager_navigation|bt_navigator|controller_server' 3 45 || true
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# ---------- 6. 设置精度参数 ----------
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echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
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source "$ROS_SETUP" 2>/dev/null || true
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cd "$AGV_ROS2_DIR"
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source "$ROS_WORKSPACE_SETUP"
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# ============================================================================
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# 7. 设置精度参数
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# ============================================================================
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step "7/8" "设置导航精度参数 (xy_goal_tolerance=0.05m)"
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for NODE in /controller_server /bt_navigator /planner_server; do
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
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ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
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ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
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done
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
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echo " ✅ 精度参数已设置"
|
||||
ros2_exec timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ros2_exec timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
|
||||
ros2_exec timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
|
||||
|
||||
info "ok" "精度参数已设置"
|
||||
|
||||
# ============================================================================
|
||||
# 8. 启动 Flask API
|
||||
# ============================================================================
|
||||
step "8/8" "启动 Flask API"
|
||||
|
||||
# ---------- 7. 启动 Flask ----------
|
||||
echo "[7/8] 启动 Flask API..."
|
||||
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL
|
||||
cd "$AGV_APP_DIR"
|
||||
nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
|
||||
FLASK_PID=$!
|
||||
echo " Flask PID: $FLASK_PID"
|
||||
sleep 4
|
||||
|
||||
# ---------- 8. 最终全面验证 ----------
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo " 系统全面验证"
|
||||
echo "=========================================="
|
||||
# ============================================================================
|
||||
# 9. 最终验证
|
||||
# ============================================================================
|
||||
section "系统全面验证"
|
||||
|
||||
# 8a. 验证 ros2 topic list（核心指标）
|
||||
# 验证话题数量
|
||||
echo ""
|
||||
echo "验证 ros2 topic list..."
|
||||
TOPIC_COUNT=$(bash -c "source \"$ROS_SETUP\" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null" | wc -l || echo 0)
|
||||
TOPIC_COUNT=$(ros2_topic_count 5)
|
||||
echo " 话题数量: $TOPIC_COUNT"
|
||||
if [ "$TOPIC_COUNT" -gt 10 ]; then
|
||||
echo " ✅ ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
|
||||
info "ok" "ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
|
||||
else
|
||||
echo " ❌ ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
|
||||
info "err" "ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
|
||||
echo " 手动执行: rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_* && ros2 daemon stop && ros2 daemon start"
|
||||
fi
|
||||
|
||||
# 8b. 验证关键话题
|
||||
# 验证关键话题
|
||||
echo ""
|
||||
echo "验证关键话题..."
|
||||
for TOPIC in /odom /scan /cmd_vel /tf; do
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q "$TOPIC"; then
|
||||
echo " ✅ $TOPIC"
|
||||
for TOPIC in /odom /scan /cmd_vel /tf /clock /scan_corrected; do
|
||||
if topic_exists "$TOPIC"; then
|
||||
info "ok" "$TOPIC"
|
||||
else
|
||||
echo " ⚠️ $TOPIC 未找到"
|
||||
info "warn" "$TOPIC 未找到"
|
||||
fi
|
||||
done
|
||||
|
||||
# 8c. 验证进程数量（确保没有重复启动）
|
||||
# 验证进程数量
|
||||
echo ""
|
||||
echo "验证进程数量..."
|
||||
BRINGUP_PROCS=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node' | grep -v grep | wc -l || echo 0)
|
||||
BRINGUP_PROCS=$(count_matching_processes 'agv_pro_node|lslidar_driver_node')
|
||||
echo " AGV 核心进程: $BRINGUP_PROCS (应为 2)"
|
||||
if [ "$BRINGUP_PROCS" -eq 2 ]; then
|
||||
echo " ✅ 进程数量正常（无重复）"
|
||||
info "ok" "进程数量正常（无重复）"
|
||||
elif [ "$BRINGUP_PROCS" -gt 2 ]; then
|
||||
echo " ⚠️ 发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
|
||||
info "warn" "发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
|
||||
else
|
||||
echo " ⚠️ 进程数量异常"
|
||||
info "warn" "进程数量异常"
|
||||
fi
|
||||
|
||||
# 8d. FastRTPS 共享内存状态
|
||||
# FastRTPS 共享内存状态
|
||||
echo ""
|
||||
echo "FastRTPS 共享内存状态:"
|
||||
FASTRTPS_NEW=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
|
||||
FASTRTPS_NEW=$(count_fastrtps_files)
|
||||
echo " 当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
|
||||
|
||||
# 8e. Flask API 测试
|
||||
# Flask API 状态
|
||||
echo ""
|
||||
echo "验证 Flask API..."
|
||||
FLASK_RUNNING=$(pgrep -f "app.py" | wc -l || echo 0)
|
||||
if [ "$FLASK_RUNNING" -gt 0 ]; then
|
||||
echo " ✅ Flask 进程运行中"
|
||||
if pgrep -f "app.py" >/dev/null 2>&1; then
|
||||
info "ok" "Flask 进程运行中"
|
||||
else
|
||||
echo " ❌ Flask 未运行"
|
||||
info "err" "Flask 未运行"
|
||||
fi
|
||||
|
||||
# ---------- 完成 ----------
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo " ✅ 启动完成"
|
||||
echo "=========================================="
|
||||
# ============================================================================
|
||||
# 完成
|
||||
# ============================================================================
|
||||
section "[OK] 启动完成"
|
||||
echo ""
|
||||
echo " 进程状态:"
|
||||
for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
|
||||
NAME="${PROC%%:*}"
|
||||
PID="${PROC##*:}"
|
||||
STATUS=$(ps aux | grep -w "$PID" | grep -v grep | awk '{print "运行中"}' || echo '已退出')
|
||||
echo " $NAME : $STATUS"
|
||||
for proc_info in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
|
||||
name="${proc_info%%:*}"
|
||||
pid="${proc_info##*:}"
|
||||
if ps aux | grep -w "$pid" | grep -v grep >/dev/null 2>&1; then
|
||||
echo " $name : 运行中 (PID: $pid)"
|
||||
else
|
||||
echo " $name : 已退出"
|
||||
fi
|
||||
done
|
||||
echo ""
|
||||
echo " 日志文件:"
|
||||
@@ -357,4 +239,5 @@ echo ""
|
||||
echo " 如果仍有问题，请依次执行："
|
||||
echo " 1. ./scripts/stop_all.sh"
|
||||
echo " 2. rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
|
||||
echo " 3. ./scripts/start_all.sh"
|
||||
echo " 3. ./scripts/prod-backend.sh"
|
||||
echo ""
|
||||
|
||||
Reference in New Issue
Block a user