Refactor ROS startup scripts

scripts/stop_all.sh

@@ -1,97 +1,16 @@
 #!/bin/bash
 # ============================================================
 # stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
-# 版本: v2.0
+# 版本: v3.0
 # 修复:
+#   - v3.0: 使用公共库重构，减少代码重复
 #   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
 # ============================================================
-set -e
+set -euo pipefail
 
-ROS_DISTRO="${ROS_DISTRO:-humble}"
-ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
-LOCK_DIR="${LOCK_DIR:-/tmp}"
-FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
+# 加载公共库
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+source "$SCRIPT_DIR/ros-common.sh"
 
-echo "=========================================="
-echo "  Robot AGV 全量停止"
-echo "=========================================="
-echo ""
-
-# ---------- 1. 软杀所有相关进程 ----------
-echo "[1/5] 软杀所有相关进程..."
-pkill -f "python.*app.py" 2>/dev/null || true
-pkill -f "uv run .*python app.py" 2>/dev/null || true
-pkill -f "agv_pro_bringup" 2>/dev/null || true
-pkill -f "agv_pro_navigation2" 2>/dev/null || true
-pkill -f "agv_pro_node" 2>/dev/null || true
-pkill -f "lslidar_driver_node" 2>/dev/null || true
-pkill -f "component_container" 2>/dev/null || true
-pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-pkill -f "robot_state_publisher" 2>/dev/null || true
-pkill -f "start_all.sh" 2>/dev/null || true
-sleep 2
-
-# ---------- 2. 硬杀确保干净 ----------
-echo "[2/5] 硬杀残留进程..."
-pkill -9 -f "app.py" 2>/dev/null || true
-pkill -9 -f "agv_pro_node" 2>/dev/null || true
-pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-pkill -9 -f "component_container" 2>/dev/null || true
-pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -9 -f "agv_pro_bringup" 2>/dev/null || true
-pkill -9 -f "agv_pro_navigation2" 2>/dev/null || true
-sleep 1
-
-# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
-echo "[3/5] 清理 FastRTPS 共享内存..."
-FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
-if [ "$FASTRTPS_COUNT" -gt 0 ]; then
-    rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
-    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
-else
-    echo "   无 FastRTPS 文件残留"
-fi
-
-# 清理 scan_fixer 锁文件
-rm -f "$LOCK_DIR/scan_fixer.lock"
-rm -f "$LOCK_DIR/clock_publisher.lock"
-echo "   ✅ FastRTPS 清理完成"
-
-# ---------- 4. 【关键】重置 ros2 daemon ----------
-echo "[4/5] 重置 ros2 daemon..."
-pkill -f "ros2-daemon" 2>/dev/null || true
-pkill -9 -f "ros2-daemon" 2>/dev/null || true
-sleep 2
-source "$ROS_SETUP" 2>/dev/null || true
-ros2 daemon stop 2>/dev/null || true
-echo "   ✅ ros2 daemon 已重置"
-
-# ---------- 5. 验证清理结果 ----------
-echo "[5/5] 验证清理结果..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
-FASTRTPS_LEFT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
-
-echo "   残留进程数: $PROC_COUNT"
-echo "   FastRTPS 文件数: $FASTRTPS_LEFT"
-
-if [ "$PROC_COUNT" -eq 0 ] && [ "$FASTRTPS_LEFT" -eq 0 ]; then
-    echo ""
-    echo "=========================================="
-    echo "  ✅ 停止完成 - 系统已完全清理"
-    echo "=========================================="
-else
-    echo ""
-    echo "=========================================="
-    echo "  ⚠️ 停止完成 - 部分残留可能需要手动清理"
-    echo "=========================================="
-    echo ""
-    echo "  手动清理命令（如需要）:"
-    echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
-    echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
-    echo "    pkill -9 -f 'ros2-daemon'"
-    echo "    rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
-fi
-echo ""
-echo "  现在可以安全运行 ./start_all.sh"
-echo ""
+# 执行完整清理
+full_cleanup