Refactor ROS startup scripts
This commit is contained in:
@@ -766,7 +766,7 @@ sudo systemctl start arm_server
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# === AGV 端 ===
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# 2. 完整启动 ROS2 导航栈 + Flask
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cd ~/work/smart-inspection
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./scripts/start_all.sh
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./scripts/prod-backend.sh
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```
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### 9.3 部署命令
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@@ -779,8 +779,8 @@ uv sync --locked
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# 部署后验证远程文件
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ssh elephant@192.168.60.80 "grep 'def _lookup_model' /home/elephant/work/smart-inspection/agv_app/utils/mission_executor.py"
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# 重启 Flask
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ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
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# 重启生产后端
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ssh elephant@192.168.60.80 'cd ~/work/smart-inspection && ./scripts/prod-backend.sh'
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# 清空 Python 缓存（关键！修改后必须清）
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ssh elephant@192.168.60.80 "find /home/elephant/work/smart-inspection/agv_app -name '*.pyc' -delete; find /home/elephant/work/smart-inspection/agv_app -name '__pycache__' -type d -exec rm -rf {} +"
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@@ -864,7 +864,7 @@ agv_app/
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```
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启动脚本位于仓库顶层 `scripts/`。LiDAR 时间戳修复脚本部署在 AGV 的
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`/home/elephant/work/scan_fixer/`，由 `scripts/start_all.sh` 调用。
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`/home/elephant/work/smart-inspection/scan_fixer/`，由 `scripts/prod-backend.sh` 调用。
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## 附录 B：关键依赖
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+17
-12
@@ -4,11 +4,11 @@
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```
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scripts/
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├── start_all.sh ← 生产环境完整启动（ROS2 + Nav2 + Flask）
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├── prod-backend.sh ← 生产环境完整启动（ROS2 + Nav2 + Flask）
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├── stop_all.sh ← 生产环境完整停止
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├── start_flask.sh ← 仅重启 Flask（修改代码后快速部署）
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├── restart_flask.sh ← 语法检查 + 清缓存 + 重启 Flask + 验证
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└── dev_start.sh ← 本地开发用（前台运行，不启动 ROS2）
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├── dev-backend.sh ← 本地后端开发启动（Mock 硬件模式）
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├── dev-frontend.sh ← 本地前端开发启动
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└── stop.sh ← 停止本地开发服务
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```
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`scan_fixer/` 是生产启动链路的一部分：`clock_publisher.py` 发布 `/clock`，
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@@ -42,25 +42,25 @@ sudo apt install -y ffmpeg libzbar0
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# 在 AGV 上执行
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cd ~/work/smart-inspection
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./scripts/stop_all.sh # 先彻底清理
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./scripts/start_all.sh # 完整启动
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./scripts/prod-backend.sh # 完整启动
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```
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### 2. 修改代码后快速部署
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### 2. 修改代码后重新启动生产后端
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```bash
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# 部署文件到 AGV 后
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ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
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ssh elephant@192.168.60.80 'cd ~/work/smart-inspection && ./scripts/prod-backend.sh'
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```
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### 3. 本地开发调试（不连硬件）
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```bash
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# 在本机执行，仅启动 Flask
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./scripts/dev_start.sh
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# 在本机执行，仅启动 Mock 后端
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./scripts/dev-backend.sh
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# 访问 http://127.0.0.1:5000
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```
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### 4. 远程轻量重启（ROS2 已运行）
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### 4. 本地前端开发
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```bash
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ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
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./scripts/dev-frontend.sh
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```
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## 环境变量
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@@ -72,8 +72,13 @@ ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
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| `AGV_PROJECT_DIR` | `/home/elephant/work/smart-inspection` | 仓库根目录 |
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| `AGV_APP_DIR` | `$AGV_PROJECT_DIR/agv_app` | Flask 应用目录 |
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| `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
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| `ROS_SETUP` | `/opt/ros/humble/setup.bash` | ROS2 环境脚本 |
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| `ROS_WORKSPACE_SETUP` | `$AGV_ROS2_DIR/install/setup.bash` | ROS2 工作空间环境脚本 |
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| `SCAN_FIXER_DIR` | `$AGV_PROJECT_DIR/scan_fixer` | 时间戳修正工具目录 |
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| `FIXER_SCRIPT` | `fix_scan_timestamp_v6.py` | fixer 脚本名 |
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| `LOG_DIR` | `/tmp` | 日志目录 |
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| `FASTRTPS_SHM_DIR` | `/dev/shm` | FastRTPS 共享内存目录 |
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| `AGV_CONTROLLER_DEVICE` | `/dev/agvpro_controller` | AGV 控制器设备 |
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| `ROS_DOMAIN_ID` | `1` | ROS2 通信域 ID |
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## 日志位置（AGV 上）
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+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\" && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
|
||||
> "$SCAN_FIXER_LOG" 2>&1 &
|
||||
FIXER_PID=$!
|
||||
echo " fix_scan_timestamp PID: $FIXER_PID"
|
||||
sleep 5
|
||||
|
||||
# 验证 fixer 进程和 scan_corrected
|
||||
FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
|
||||
# 检查是否有多个 fixer 进程
|
||||
FIXER_COUNT=$(count_matching_processes "fix_scan_timestamp")
|
||||
if [ "$FIXER_COUNT" -gt 1 ]; then
|
||||
echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
|
||||
echo " [WARN] 发现 $FIXER_COUNT 个 fixer 进程，重启..."
|
||||
pkill -f "fix_scan_timestamp" 2>/dev/null || true
|
||||
pkill -f "clock_publisher" 2>/dev/null || true
|
||||
sleep 2
|
||||
rm -f "$LOCK_DIR/scan_fixer.lock"
|
||||
rm -f /tmp/scan_fixer.lock
|
||||
nohup bash -c "source \"$ROS_SETUP\" && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
|
||||
> "$SCAN_FIXER_LOG" 2>&1 &
|
||||
FIXER_PID=$!
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
|
||||
echo " ✅ /scan_corrected 已上线"
|
||||
else
|
||||
echo " ⚠️ /scan_corrected 未上线，检查日志："
|
||||
tail -5 "$SCAN_FIXER_LOG" 2>/dev/null || true
|
||||
fi
|
||||
wait_for_topic /scan_corrected 15 || show_log_tail "$SCAN_FIXER_LOG"
|
||||
|
||||
# ---------- 5. 启动 Nav2 ----------
|
||||
echo "[5/8] 启动 Nav2 导航..."
|
||||
source "$ROS_SETUP" 2>/dev/null || true
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source "$ROS_WORKSPACE_SETUP"
|
||||
# ============================================================================
|
||||
# 6. 启动 Nav2
|
||||
# ============================================================================
|
||||
step "6/8" "启动 Nav2 导航"
|
||||
|
||||
nohup bash -c "source \"$ROS_SETUP\" && \
|
||||
source \"$ROS_WORKSPACE_SETUP\" && \
|
||||
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
|
||||
ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
|
||||
autostart:=True" > "$NAV2_LOG" 2>&1 &
|
||||
nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
|
||||
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
|
||||
ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True" \
|
||||
> "$NAV2_LOG" 2>&1 &
|
||||
NAV2_PID=$!
|
||||
echo " Nav2 PID: $NAV2_PID"
|
||||
sleep 12
|
||||
|
||||
echo " 等待 Nav2 节点就绪..."
|
||||
NAV2_OK=0
|
||||
for i in $(seq 1 15); do
|
||||
NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
|
||||
grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
|
||||
NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
|
||||
if [ "$NODES" -ge 3 ] 2>/dev/null; then
|
||||
echo " ✅ Nav2 节点已就绪 ($NODES 个)"
|
||||
NAV2_OK=1
|
||||
break
|
||||
fi
|
||||
sleep 3
|
||||
done
|
||||
if [ "$NAV2_OK" -eq 0 ]; then
|
||||
echo " ⚠️ Nav2 节点未完全就绪，继续..."
|
||||
fi
|
||||
wait_for_nodes 'lifecycle_manager_navigation|bt_navigator|controller_server' 3 45 || true
|
||||
|
||||
# ---------- 6. 设置精度参数 ----------
|
||||
echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
|
||||
source "$ROS_SETUP" 2>/dev/null || true
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source "$ROS_WORKSPACE_SETUP"
|
||||
# ============================================================================
|
||||
# 7. 设置精度参数
|
||||
# ============================================================================
|
||||
step "7/8" "设置导航精度参数 (xy_goal_tolerance=0.05m)"
|
||||
|
||||
for NODE in /controller_server /bt_navigator /planner_server; do
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
|
||||
ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
|
||||
done
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
|
||||
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 ""
|
||||
|
||||
Executable
+328
@@ -0,0 +1,328 @@
|
||||
#!/bin/bash
|
||||
# ROS AGV 公共库
|
||||
# 提供生产脚本共享的配置、清理与验证函数
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
# ============================================================================
|
||||
# 配置（可通过环境变量覆盖）
|
||||
# ============================================================================
|
||||
readonly AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}"
|
||||
readonly AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
|
||||
readonly AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
|
||||
readonly ROS_SETUP="${ROS_SETUP:-/opt/ros/humble/setup.bash}"
|
||||
readonly ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
|
||||
readonly SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
|
||||
readonly LOG_DIR="${LOG_DIR:-/tmp}"
|
||||
readonly FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
|
||||
readonly AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
|
||||
export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
|
||||
|
||||
# 日志文件
|
||||
readonly BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
|
||||
readonly NAV2_LOG="$LOG_DIR/ros2_nav2.log"
|
||||
readonly CLOCK_LOG="$LOG_DIR/clock_publisher.log"
|
||||
readonly SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
|
||||
readonly FLASK_LOG="$LOG_DIR/agv_flask.log"
|
||||
|
||||
# ============================================================================
|
||||
# 进程管理
|
||||
# ============================================================================
|
||||
|
||||
# ROS 相关进程列表（用于清理）
|
||||
readonly ROS_PROCESSES=(
|
||||
"ros2 launch agv_pro_bringup"
|
||||
"ros2 launch agv_pro_navigation2"
|
||||
"agv_pro_node"
|
||||
"lslidar_driver_node"
|
||||
"component_container"
|
||||
"robot_state_publisher"
|
||||
"fix_scan_timestamp"
|
||||
"clock_publisher"
|
||||
"python.*app.py"
|
||||
"uv run .*python app.py"
|
||||
)
|
||||
|
||||
# 软杀所有进程
|
||||
kill_all_soft() {
|
||||
echo " 软杀进程中..."
|
||||
for proc in "${ROS_PROCESSES[@]}"; do
|
||||
pkill -f "$proc" 2>/dev/null || true
|
||||
done
|
||||
sleep 2
|
||||
}
|
||||
|
||||
# 硬杀所有进程
|
||||
kill_all_hard() {
|
||||
echo " 强制终止中..."
|
||||
for proc in "${ROS_PROCESSES[@]}"; do
|
||||
pkill -9 -f "$proc" 2>/dev/null || true
|
||||
done
|
||||
sleep 1
|
||||
}
|
||||
|
||||
# 统计匹配进程数
|
||||
count_matching_processes() {
|
||||
local pattern=$1
|
||||
local current_pid=$$
|
||||
local shell_pid=$BASHPID
|
||||
local parent_pid=$PPID
|
||||
local count=0
|
||||
local pid
|
||||
local args
|
||||
|
||||
while read -r pid args; do
|
||||
if [ -z "${pid:-}" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ "$pid" = "$current_pid" ] || [ "$pid" = "$shell_pid" ] || [ "$pid" = "$parent_pid" ]; then
|
||||
continue
|
||||
fi
|
||||
if [[ "${args:-}" =~ $pattern ]]; then
|
||||
count=$((count + 1))
|
||||
fi
|
||||
done < <(ps -eo pid=,args=)
|
||||
|
||||
echo "$count"
|
||||
}
|
||||
|
||||
# 统计残留进程数
|
||||
count_residual_processes() {
|
||||
count_matching_processes "agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon"
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# FastRTPS 清理
|
||||
# ============================================================================
|
||||
|
||||
# 清理 FastRTPS 共享内存
|
||||
cleanup_fastrtps() {
|
||||
local count
|
||||
count=$(count_fastrtps_files)
|
||||
|
||||
if [ "$count" -gt 0 ]; then
|
||||
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
|
||||
echo " 已清理 $count 个 FastRTPS 文件"
|
||||
else
|
||||
echo " 无 FastRTPS 文件残留"
|
||||
fi
|
||||
|
||||
# 清理锁文件
|
||||
rm -f /tmp/scan_fixer.lock /tmp/clock_publisher.lock
|
||||
}
|
||||
|
||||
# 统计 FastRTPS 文件数
|
||||
count_fastrtps_files() (
|
||||
shopt -s nullglob
|
||||
local files=("$FASTRTPS_SHM_DIR"/fastrtps_*)
|
||||
echo "${#files[@]}"
|
||||
)
|
||||
|
||||
# 载入 ROS2 环境后执行命令
|
||||
ros2_exec() {
|
||||
bash -c '
|
||||
source "$1" || exit 1
|
||||
if [ -f "$2" ]; then
|
||||
source "$2" || exit 1
|
||||
fi
|
||||
export ROS_DOMAIN_ID="$3"
|
||||
shift 3
|
||||
"$@"
|
||||
' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# ROS2 环境操作
|
||||
# ============================================================================
|
||||
|
||||
ros2_topic_list() {
|
||||
ros2_exec ros2 topic list 2>/dev/null || true
|
||||
}
|
||||
|
||||
ros2_topic_count() {
|
||||
local topics
|
||||
topics=$(ros2_exec timeout "${1:-5}" ros2 topic list 2>/dev/null || true)
|
||||
if [ -z "$topics" ]; then
|
||||
echo 0
|
||||
else
|
||||
printf '%s\n' "$topics" | sed '/^$/d' | wc -l
|
||||
fi
|
||||
}
|
||||
|
||||
topic_exists() {
|
||||
ros2_topic_list | grep -Fxq "$1"
|
||||
}
|
||||
|
||||
# 启动 ROS2 daemon
|
||||
start_ros2_daemon() {
|
||||
echo " 启动 ros2 daemon..."
|
||||
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
|
||||
|
||||
nohup bash -c '
|
||||
source "$1" || exit 1
|
||||
export ROS_DOMAIN_ID="$2"
|
||||
ros2 daemon start
|
||||
' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" >/dev/null 2>&1 &
|
||||
sleep 4
|
||||
|
||||
# 等待 daemon 就绪
|
||||
for _ in $(seq 1 5); do
|
||||
if ros2_exec timeout 3 ros2 topic list &>/dev/null; then
|
||||
echo " [OK] ros2 daemon 已就绪"
|
||||
return 0
|
||||
fi
|
||||
sleep 2
|
||||
done
|
||||
echo " [WARN] ros2 daemon 可能有问题"
|
||||
return 1
|
||||
}
|
||||
|
||||
# 停止 ROS2 daemon
|
||||
stop_ros2_daemon() {
|
||||
echo " 重置 ros2 daemon..."
|
||||
pkill -f "ros2-daemon" 2>/dev/null || true
|
||||
pkill -9 -f "ros2-daemon" 2>/dev/null || true
|
||||
sleep 2
|
||||
|
||||
source "$ROS_SETUP" 2>/dev/null || true
|
||||
ros2 daemon stop 2>/dev/null || true
|
||||
echo " [OK] ros2 daemon 已重置"
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 等待/验证函数
|
||||
# ============================================================================
|
||||
|
||||
# 等待话题出现
|
||||
# 用法: wait_for_topic <话题名> <最大等待秒数>
|
||||
wait_for_topic() {
|
||||
local topic=$1
|
||||
local max_wait=${2:-30}
|
||||
local elapsed=0
|
||||
|
||||
while [ "$elapsed" -lt "$max_wait" ]; do
|
||||
if topic_exists "$topic"; then
|
||||
echo " [OK] $topic 已上线"
|
||||
return 0
|
||||
fi
|
||||
sleep 2
|
||||
elapsed=$((elapsed + 2))
|
||||
done
|
||||
echo " [WARN] $topic 未在 $max_wait 秒内上线"
|
||||
return 1
|
||||
}
|
||||
|
||||
# 等待节点出现（匹配数量）
|
||||
# 用法: wait_for_nodes <节点模式> <期望数量> <最大等待秒数>
|
||||
wait_for_nodes() {
|
||||
local pattern=$1
|
||||
local expected=$2
|
||||
local max_wait=${3:-30}
|
||||
local elapsed=0
|
||||
local count=0
|
||||
|
||||
while [ "$elapsed" -lt "$max_wait" ]; do
|
||||
local nodes
|
||||
nodes=$(ros2_exec ros2 node list 2>/dev/null || true)
|
||||
count=$(printf '%s\n' "$nodes" | grep -cE "$pattern" || true)
|
||||
if [ "$count" -ge "$expected" ]; then
|
||||
echo " [OK] 已检测到 $count 个节点"
|
||||
return 0
|
||||
fi
|
||||
sleep 2
|
||||
elapsed=$((elapsed + 2))
|
||||
done
|
||||
echo " [WARN] 仅检测到 $count 个节点（期望 $expected 个）"
|
||||
return 1
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 日志/输出辅助
|
||||
# ============================================================================
|
||||
|
||||
# 打印分节标题
|
||||
section() {
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo " $1"
|
||||
echo "=========================================="
|
||||
}
|
||||
|
||||
# 打印步骤
|
||||
step() {
|
||||
echo ""
|
||||
echo "[$1] $2"
|
||||
}
|
||||
|
||||
# 打印带状态的信息
|
||||
info() {
|
||||
local status=$1
|
||||
local msg=$2
|
||||
if [ "$status" = "ok" ]; then
|
||||
echo " [OK] $msg"
|
||||
elif [ "$status" = "warn" ]; then
|
||||
echo " [WARN] $msg"
|
||||
elif [ "$status" = "err" ]; then
|
||||
echo " [ERROR] $msg"
|
||||
else
|
||||
echo " $msg"
|
||||
fi
|
||||
}
|
||||
|
||||
# 显示日志尾部
|
||||
show_log_tail() {
|
||||
local log_file=$1
|
||||
local lines=${2:-5}
|
||||
if [ -f "$log_file" ]; then
|
||||
echo " --- 日志尾部 ($log_file) ---"
|
||||
tail -"$lines" "$log_file" 2>/dev/null | sed 's/^/ /' || true
|
||||
fi
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 完整清理流程
|
||||
# ============================================================================
|
||||
|
||||
# 执行完整清理（供 stop_all.sh 使用）
|
||||
full_cleanup() {
|
||||
section "Robot AGV 全量停止"
|
||||
|
||||
step "1/5" "软杀所有相关进程"
|
||||
kill_all_soft
|
||||
|
||||
step "2/5" "强制终止残留进程"
|
||||
kill_all_hard
|
||||
|
||||
step "3/5" "重置 ros2 daemon"
|
||||
stop_ros2_daemon
|
||||
|
||||
step "4/5" "清理 FastRTPS 共享内存"
|
||||
cleanup_fastrtps
|
||||
|
||||
step "5/5" "验证清理结果"
|
||||
local proc_count=$(count_residual_processes)
|
||||
local fastrtps_left=$(count_fastrtps_files)
|
||||
|
||||
echo " 残留进程数: $proc_count"
|
||||
echo " FastRTPS 文件数: $fastrtps_left"
|
||||
|
||||
if [ "$proc_count" -eq 0 ] && [ "$fastrtps_left" -eq 0 ]; then
|
||||
section "[OK] 停止完成 - 系统已完全清理"
|
||||
else
|
||||
section "[WARN] 停止完成 - 部分残留可能需要手动清理"
|
||||
echo ""
|
||||
echo " 手动清理命令（如需要）:"
|
||||
echo " pkill -9 -f 'agv_pro_node|lslidar|component_container'"
|
||||
echo " pkill -9 -f 'fix_scan_timestamp|app.py'"
|
||||
echo " pkill -9 -f 'ros2-daemon'"
|
||||
echo " rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
|
||||
fi
|
||||
echo ""
|
||||
echo " 现在可以安全运行 ./scripts/prod-backend.sh"
|
||||
echo ""
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 初始化（确保目录存在）
|
||||
# ============================================================================
|
||||
mkdir -p "$LOG_DIR"
|
||||
+8
-89
@@ -1,97 +1,16 @@
|
||||
#!/bin/bash
|
||||
# ============================================================
|
||||
# stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
|
||||
# 版本: v2.0
|
||||
# 版本: v3.0
|
||||
# 修复:
|
||||
# - v3.0: 使用公共库重构，减少代码重复
|
||||
# - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
|
||||
# ============================================================
|
||||
set -e
|
||||
set -euo pipefail
|
||||
|
||||
ROS_DISTRO="${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
|
||||
|
||||
Reference in New Issue
Block a user