FaulknerWu
1429442dbd
- Rename customs-tablet-frontend/ to public-frontend/ for broader scope - Add new pages: customs, inspection with camera integration - Add new services: apiClient.ts, backendApi.ts, normalizers.ts - Add CameraFrame component for real-time video streaming - Add scan_fixer module with clock_publisher and timestamp fix utilities - Update startup scripts to support new frontend structure - Update arm_server configuration and service files Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
98 lines
3.6 KiB
Bash
Executable File
98 lines
3.6 KiB
Bash
Executable File
#!/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
|
|
|
|
ROS_DISTRO="${ROS_DISTRO:-humble}"
|
|
ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
|
|
LOCK_DIR="${LOCK_DIR:-/tmp}"
|
|
FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
|
|
|
|
echo "=========================================="
|
|
echo " Robot AGV 全量停止"
|
|
echo "=========================================="
|
|
echo ""
|
|
|
|
# ---------- 1. 软杀所有相关进程 ----------
|
|
echo "[1/5] 软杀所有相关进程..."
|
|
pkill -f "python.*app.py" 2>/dev/null || true
|
|
pkill -f "uv run .*python app.py" 2>/dev/null || true
|
|
pkill -f "agv_pro_bringup" 2>/dev/null || true
|
|
pkill -f "agv_pro_navigation2" 2>/dev/null || true
|
|
pkill -f "agv_pro_node" 2>/dev/null || true
|
|
pkill -f "lslidar_driver_node" 2>/dev/null || true
|
|
pkill -f "component_container" 2>/dev/null || true
|
|
pkill -f "fix_scan_timestamp" 2>/dev/null || true
|
|
pkill -f "clock_publisher" 2>/dev/null || true
|
|
pkill -f "robot_state_publisher" 2>/dev/null || true
|
|
pkill -f "start_all.sh" 2>/dev/null || true
|
|
sleep 2
|
|
|
|
# ---------- 2. 硬杀确保干净 ----------
|
|
echo "[2/5] 硬杀残留进程..."
|
|
pkill -9 -f "app.py" 2>/dev/null || true
|
|
pkill -9 -f "agv_pro_node" 2>/dev/null || true
|
|
pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
|
|
pkill -9 -f "component_container" 2>/dev/null || true
|
|
pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
|
|
pkill -9 -f "agv_pro_bringup" 2>/dev/null || true
|
|
pkill -9 -f "agv_pro_navigation2" 2>/dev/null || true
|
|
sleep 1
|
|
|
|
# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
|
|
echo "[3/5] 清理 FastRTPS 共享内存..."
|
|
FASTRTPS_COUNT=$(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 ""
|