导航修复

agv_app/stop_all.sh

@@ -1,38 +1,89 @@
 #!/bin/bash
+# ============================================================
 # stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
+# 版本: v2.0
+# 修复:
+#   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
+# ============================================================
+set -e
 
-echo "正在停止 AGV 系统..."
+echo "=========================================="
+echo "  Robot AGV 全量停止"
+echo "=========================================="
+echo ""
 
-# 1. 关闭 Flask 主程序
-echo "[1/3] 关闭 Flask 服务..."
-pkill -f "python3 app.py" 2>/dev/null
+# ---------- 1. 软杀所有相关进程 ----------
+echo "[1/5] 软杀所有相关进程..."
+pkill -f "python3 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 "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
 
-# 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"
+# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
+echo "[3/5] 清理 FastRTPS 共享内存..."
+FASTRTPS_COUNT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+if [ "$FASTRTPS_COUNT" -gt 0 ]; then
+    rm -rf /dev/shm/fastrtps_*
+    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
 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
+    echo "   无 FastRTPS 文件残留"
 fi
 
-echo "停止完成"
+# 清理 scan_fixer 锁文件
+rm -f /tmp/scan_fixer.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 /opt/ros/humble/setup.bash 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=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
+FASTRTPS_LEFT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+
+echo "   残留进程数: $PROC_COUNT"
+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 /dev/shm/fastrtps_*"
+fi
+echo ""
+echo "  现在可以安全运行 ./start_all.sh"
+echo ""