坐标问题

agv_app/stop_all.sh

@@ -21,6 +21,7 @@ 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
@@ -48,6 +49,7 @@ fi
 
 # 清理 scan_fixer 锁文件
 rm -f /tmp/scan_fixer.lock
+rm -f /tmp/clock_publisher.lock
 echo "   ✅ FastRTPS 清理完成"
 
 # ---------- 4. 【关键】重置 ros2 daemon ----------
@@ -61,7 +63,7 @@ echo "   ✅ ros2 daemon 已重置"
 
 # ---------- 5. 验证清理结果 ----------
 echo "[5/5] 验证清理结果..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
+PROC_COUNT=$(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 /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
 
 echo "   残留进程数: $PROC_COUNT"