diff --git a/AGENTS.md b/AGENTS.md
index a3ade4b..ea03241 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -12,7 +12,7 @@
 4. **禁止问与思考循环**。给出明确方案,直接开干。
 5. **测试必须 100% 通过才能停手**。
    - `make colcon-build` + `make colcon-test` 全绿才能汇报"完成"
-   - 当前实测:**12 包 / 78 用例(64 pytest + 14 gtest) 100% 通过**
+   - 当前实测:**12 包 / 82 用例(64 pytest + 14 gtest + 4 launch_test) 100% 通过**
 6. **调试日志/临时输出统一放 `.logs/` 目录**。禁止在项目根目录散放 `*.log`、`*.xml` 等临时文件。
    - `.logs/` 已加入 `.gitignore`,不会进版本控制
    - 用法: `docker exec ... > .logs/build.log 2>&1`
@@ -96,23 +96,23 @@ D:\xs\ros2\
 | 查看日志 | `make logs` |
 | 本机 venv 初始化 | `make venv-setup`(或 `powershell .\tools\setup_venv.ps1`) |
 
-## 测试覆盖(12 包 / 78 用例 / 100% 目标)
+## 测试覆盖(12 包 / 82 用例 / 100% 目标)
 
 | 包 | 类型 | 测试 |
 |---|---|---|
 | py_pubsub | pytest | 11/11 |
-| cpp_pubsub | gtest | 3/3 |
-| py_srv | pytest | 6/6 |
-| py_action_demo | pytest | 4/4 |
-| cpp_robot_tf2 | gtest | 4/4 |
-| py_vision_demo | pytest | 11/11 |
+| cpp_pubsub | gtest + launch_test | 4/4 |
+| py_srv | pytest | 7/7 |
+| py_action_demo | pytest | 5/5 |
+| cpp_robot_tf2 | gtest + launch_test | 5/5 |
+| py_vision_demo | pytest | 13/13 |
 | py_params | pytest | 16/16 |
-| cpp_custom_interface | gtest | 3/3 |
+| cpp_custom_interface | gtest + launch_test | 4/4 |
 | py_lifecycle_composable | pytest | 6/6 |
-| cpp_qos_demo | gtest | 4/4 |
+| cpp_qos_demo | gtest + launch_test | 5/5 |
 | py_overlay_dds | pytest | 6/6 |
-| bringup | launch | 6/6 |
-| **总计** | | **80/80** |
+| bringup | pytest(0) | 0/0 |
+| **总计** | | **82/82** |
 
 ## 子项目约定
 
diff --git a/README.md b/README.md
index 331038c..a9d4c7a 100644
--- a/README.md
+++ b/README.md
@@ -293,7 +293,7 @@ Failed <<< py_pubsub [1 min 30 s]
 
 **核心特点**:
 - ✅ 12 个真实可运行的 ROS2 包,涵盖 ROS2 几乎所有核心机制
-- ✅ 78 个测试用例 100% 通过(可运行、可验证、不踩坑)
+- ✅ 82 个测试用例 100% 通过(64 pytest + 14 gtest + 4 launch_test,可运行、可验证、不踩坑)
 - ✅ 24 篇深度文档,从 Hello World 到三机部署
 - ✅ 跨语言互通(py ↔ cpp),贴近工业真实场景
 - ✅ Docker 容器化,Windows / Linux / Mac 都能跑
diff --git a/doc/00-overview.md b/doc/00-overview.md
index 37f8326..95ba495 100644
--- a/doc/00-overview.md
+++ b/doc/00-overview.md
@@ -20,8 +20,8 @@
 
 ## 1. 一句话定位
 
-> **ROS2 Humble 7 包全栈实战** — Topic / Service / Action / TF2 / URDF / Vision 六大通信范式 +
-> Python/C++ 双语言互通 + 端到端 launch + **10/10 测试 100% 通过** + 15 篇文档 —
+> **ROS2 Humble 12 包全栈实战** — Topic / Service / Action / TF2 / URDF / Vision 六大通信范式 +
+> Python/C++ 双语言互通 + 端到端 launch + **82/82 测试 100% 通过** + 24 篇文档 —
 > 为 VLA / 具身智能开发铺平最后一段学习路径。
 
 ---
@@ -53,7 +53,9 @@
 │  │         colcon build / install / test                  │  │
 │  │  src/py_pubsub  src/cpp_pubsub  src/py_srv             │  │
 │  │  src/py_action_demo  src/cpp_robot_tf2                 │  │
-│  │  src/py_vision_demo  src/bringup                      │  │
+│  │  src/py_vision_demo  src/py_params                     │  │
+│  │  src/cpp_custom_interface  src/py_lifecycle_composable │  │
+│  │  src/cpp_qos_demo  src/py_overlay_dds  src/bringup     │  │
 │  │           ↓                                           │  │
 │  │  install/<pkg>/share/<pkg>/launch/*.py                │  │
 │  │  install/<pkg>/lib/<pkg>/<exec>                       │  │
@@ -89,6 +91,11 @@
 | **py_action_demo** | Action 三件套(Python) | ament_python | rclpy, example_interfaces |
 | **cpp_robot_tf2** | URDF + TF2 + JointState(C++) | ament_cmake | rclcpp, tf2, geometry_msgs, sensor_msgs |
 | **py_vision_demo** | sensor_msgs/Image(Python) | ament_python | rclpy, sensor_msgs, cv_bridge |
+| **py_params** | 参数系统 + 校验回调(Python) | ament_python | rclpy, rcl_interfaces |
+| **cpp_custom_interface** | 自定义 .msg/.srv/.action(C++) | ament_cmake | rclcpp, rclcpp_action, rosidl_default_generators |
+| **py_lifecycle_composable** | Lifecycle + Composable(Python) | ament_python | rclpy, lifecycle_msgs |
+| **cpp_qos_demo** | QoS 9 种组合(C++) | ament_cmake | rclcpp, std_msgs |
+| **py_overlay_dds** | DDS 配置 + colcon overlay(Python) | ament_python | rclpy, launch |
 | **bringup** | 顶层 launch 聚合(Python) | ament_python | launch, launch_ros |
 
 **设计原则**:
@@ -182,12 +189,16 @@ D:\xs\ros2\
 | 知识点 | 状态 |
 |---|---|
 | ROS2 通信(Topic / Service / Action / Parameter) | ✅ |
+| 自定义 .msg/.srv/.action + rosidl 编译 | ✅ |
+| QoS 9 种组合(RELIABLE / BEST_EFFORT / TRANSIENT_LOCAL ...) | ✅ |
+| Lifecycle Node(unconfigured → active → finalized) | ✅ |
 | TF2 坐标变换 + URDF | ✅ |
 | sensor_msgs/Image + cv_bridge | ✅ |
 | JointState 发布 | ✅ |
+| DDS 配置 + colcon overlay + 多机部署 | ✅ |
 | Launch + 测试 + Docker + venv | ✅ |
-| 跨语言互通 | ✅ |
-| 文档齐全(15 篇) | ✅ |
+| 跨语言互通(py ↔ cpp) | ✅ |
+| 文档齐全(24 篇) | ✅ |
 
 ### 6.2 ❌ 没覆盖(下一步)
 
@@ -246,8 +257,9 @@ sudo apt install ros-humble-navigation2
 - 节点名小写下划线 + 后缀(`talker_py`, `joint_state_publisher_cpp`)
 
 ### 8.3 测试
-- 每个 Python 包 4 个测试用例
-- 每个 C++ 包 2 个 gtest
+- 12 包 / **82 用例**(64 pytest + 14 gtest + 4 launch_test),100% 通过
+- Python 包 6 ~ 16 个 pytest 不等(深度按包而定)
+- C++ 包 3 ~ 4 个 gtest + launch_test
 - 集成测试用 in-process spin(避免 launch_testing 的 shutdown 二次调用问题)
 
 ### 8.4 文档
@@ -275,7 +287,7 @@ sudo apt install ros-humble-navigation2
 
 ## 📖 阅读路径导航
 
-> 💡 这是仓库 `doc/` 下所有文档的推荐阅读顺序。[返回 README 总导航](../README.md#-23-篇文档怎么读)
+> 💡 这是仓库 `doc/` 下所有文档的推荐阅读顺序。[返回 README 总导航](../README.md#-24-篇文档怎么读)
 >
 > ⏱ **本文预计阅读时间**: 20 分钟
 > 📍 **当前位置**: 第 1 / 24 篇
diff --git a/doc/01-quickstart.md b/doc/01-quickstart.md
index 6bafbd3..09985cb 100644
--- a/doc/01-quickstart.md
+++ b/doc/01-quickstart.md
@@ -78,10 +78,10 @@ cd D:\xs\ros2
 # Linux / macOS
 cd /path/to/ros2
 ```
-
 ### 2.2 构建镜像(首次 5-10 分钟)
+
 ```bash
-docker compose -f docker/docker-compose.yml build
+docker compose -p ros2 -f docker/docker-compose.yml build
 ```
 
 **这一步做了什么**:
@@ -116,13 +116,14 @@ docker images
 ## Step 3: 启动容器
 
 ```bash
-docker compose -f docker/docker-compose.yml up -d
+docker compose -p ros2 -f docker/docker-compose.yml up -d
 ```
 
 **参数说明**:
+- `-p ros2`:compose project 名,所有容器归在 `ros2` 项目下(脱离默认 `docker`)
 - `up -d`:后台启动(`-d` = detached)
 - `container_name: ros2_dev`:容器名叫这个
-- `network_mode: host`:DDS multicast 必须
+- `networks: ros2_net`:自定义 bridge(脱离 docker_default,IP 段 172.20.0.0/24)
 
 **预期**:
 ```
@@ -140,15 +141,19 @@ docker ps
 
 **进入开发终端**:
 ```bash
-docker exec -it ros2_dev bash -lc "source /root/ros2_ws/install/setup.bash && exec bash"
+docker exec -it ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && exec bash"
 ```
 
+> ❗ **两个 `source` 都要有**:
+> - `source /opt/ros/humble/setup.bash` — 加载 ROS2 环境变量(rclpy / colcon / ros2 CLI)
+> - `source /root/ros2_ws/install/setup.bash` — 加载本项目 12 个编译产物(只有 build 后才有 `install/`,第 4 步前先注释掉这一行)
+
 你应该看到类似:
 ```
 root@docker-desktop:/root/ros2_ws#
 ```
 
-> 💡 **小技巧**: `docker exec -it ros2_dev bash` 进入容器;**`exec` 前要保证容器在运行**(`docker ps` 看到 `Up` 状态)。
+> 💡 **小技巧**: 用 `bash scripts/shell.sh` 一键进入(自动检查容器是否在跑 + 启动 + source)。
 
 ---
 
@@ -160,32 +165,43 @@ root@docker-desktop:/root/ros2_ws#
 source /opt/ros/humble/setup.bash   # 加载 ROS2 环境
 cd /root/ros2_ws                     # 进入工作空间
 ```
-
 ### 4.2 编译所有包
+
 ```bash
 bash scripts/build.sh
 ```
-*(脚本封装了 `source /opt/ros/humble/setup.bash` + `colcon build --symlink-install` 12 个包;手动等价命令见下)*
+*(脚本封装了 `source /opt/ros/humble/setup.bash` + `colcon build --symlink-install --executor sequential` 12 个包;手动等价命令见下)*
 
 **手动等价命令**:
 ```bash
 source /opt/ros/humble/setup.bash
 cd /root/ros2_ws
-colcon build --symlink-install
+colcon build --symlink-install --executor sequential \
+  --packages-select \
+    py_pubsub cpp_pubsub py_srv py_action_demo \
+    cpp_robot_tf2 py_vision_demo py_params \
+    cpp_custom_interface py_lifecycle_composable \
+    cpp_qos_demo py_overlay_dds bringup
 ```
 
+> ❗ **`--executor sequential` 必需**。colcon 默认并行构建 12 个包,`cpp_custom_interface` 的 rosidl export cmake 步骤会偶发失败(已知 CMake bug)。串行构建稳定通过。
+
 **预期输出(末尾)**:
 ```
-[INFO] [launch]: Default logging verbosity is set to INFO
 Finished <<< py_pubsub [9.5s]
 Finished <<< cpp_pubsub [42s]
 Finished <<< py_srv [11s]
 Finished <<< py_action_demo [17s]
 Finished <<< cpp_robot_tf2 [49s]
 Finished <<< py_vision_demo [11s]
-Finished <<< bringup [18s]
+Finished <<< py_params [12s]
+Finished <<< cpp_custom_interface [38s]
+Finished <<< py_lifecycle_composable [8s]
+Finished <<< cpp_qos_demo [22s]
+Finished <<< py_overlay_dds [9s]
+Finished <<< bringup [12s]
 
-Summary: 7 packages finished [2min 30s]
+Summary: 12 packages finished [3min 30s]
 ```
 
 **编译产物位置**:
@@ -197,18 +213,29 @@ Summary: 7 packages finished [2min 30s]
 ├── py_action_demo/
 ├── cpp_robot_tf2/
 ├── py_vision_demo/
+├── py_params/
+├── cpp_custom_interface/
+├── py_lifecycle_composable/
+├── cpp_qos_demo/
+├── py_overlay_dds/
 └── bringup/
 ```
-
 ### 4.3 跑测试(可选)
+
 ```bash
 bash scripts/test.sh
 ```
 
 **预期**:
 ```
-Summary: 7 packages finished [25s]
+Summary: 12 packages finished [1min 30s]
   0 packages failed
+
+build/py_pubsub/pytest.xml: 11 tests, 0 errors, 0 failures, 0 skipped
+build/cpp_pubsub/test_results/cpp_pubsub/test_pub_sub.gtest.xml: 3 tests, ...
+build/py_srv/pytest.xml: 7 tests, ...
+...
+Summary: 82 tests, 0 errors, 0 failures, 0 skipped
 ```
 
 ---
@@ -426,14 +453,19 @@ sudo apt install ros-humble-<pkg>
 ### Q8: 容器里中文显示乱码
 **原因**: 容器没装中文字体
 **解决**: 在容器内 `export LANG=C.UTF-8 LC_ALL=C.UTF-8`
+### Q9: `colcon build` 报 `CMakeCache` 或 `export_cpp_custom_interface__rosidl_generator_cExport` 错误
 
-### Q9: `colcon build` 报 `CMakeCache` 错误
-**原因**: 之前构建的 CMakeCache 有问题
+**原因**: 上次 build 残留 CMakeCache,或 `cpp_custom_interface` 的 rosidl export cmake 并行构建偶发失败
 **解决**:
 ```bash
 cd /root/ros2_ws
-bash scripts/clean.sh   # 等价于 rm -rf build install log
-bash scripts/build.sh
+bash scripts/clean.sh              # 等价于 rm -rf build install log
+bash scripts/build.sh              # 脚本已带 --executor sequential
+```
+如果还挂,加上 `--cmake-clean-cache`:
+```bash
+colcon build --symlink-install --executor sequential --cmake-clean-cache \
+  --packages-select <12 个包>
 ```
 
 ### Q10: 容器跑一段时间后磁盘满了
diff --git a/doc/85-docker.md b/doc/85-docker.md
index f6b8da9..3688dbb 100644
--- a/doc/85-docker.md
+++ b/doc/85-docker.md
@@ -71,12 +71,12 @@ CMD ["bash"]
 
 ```powershell
 # Windows
-docker compose -f D:\xs\ros2\docker\docker-compose.yml build
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml build
 ```
 
 ```bash
 # Linux
-docker compose -f docker/docker-compose.yml build
+docker compose -p ros2 -f docker/docker-compose.yml build
 ```
 
 镜像名:`ros2-humble-dev:latest`,约 3GB。
@@ -115,37 +115,55 @@ RUN pip3 install ultralytics==8.0.0 numpy==1.26
 [`docker/docker-compose.yml`](../docker/docker-compose.yml):
 
 ```yaml
+name: ros2                     # 独立 compose project(脱离默认 docker 分组)
+
 services:
   ros2:
     build: .
     image: ros2-humble-dev:latest
     container_name: ros2_dev
 
-    privileged: true       # 调试用
-    stdin_open: true       # docker exec -it
+    privileged: true           # 调试用
+    stdin_open: true           # docker exec -it
     tty: true
 
-    network_mode: host     # DDS multicast 必须
+    networks:                  # 自定义 bridge(脱离 docker_default)
+      ros2_net:
+        ipv4_address: 172.20.0.10   # 固定 IP,便于 ROS_STATIC_PEERS
 
     environment:
       - ROS_DOMAIN_ID=0
       # 不要设 RMW_IMPLEMENTATION=rmw_cyclonedds_cpp:
       # 镜像没装 cyclone dds,CMake 配置会失败。
+      - RCUTILS_COLORIZED_OUTPUT=1
 
     volumes:
-      - ..:/root/ros2_ws    # bind mount 本机 D:\xs\ros2
+      - ..:/root/ros2_ws        # bind mount 本机 D:\xs\ros2
 
     working_dir: /root/ros2_ws
 
     command: ["bash", "-lc", "tail -f /dev/null"]   # 容器永不退
+
+networks:
+  ros2_net:
+    driver: bridge
+    ipam:
+      config:
+        - subnet: 172.20.0.0/24
+          gateway: 172.20.0.1
 ```
 
-### 3.2 为什么 host network
+### 3.2 为什么自定义 bridge 而不是 host network
 
-ROS2 默认用 DDS multicast 在同一网段自动发现节点。多容器或跨主机时,**bridge 网络
-会拦截 multicast**,导致节点看不见彼此。
+ROS2 默认用 DDS multicast 在同一网段自动发现节点。
+**默认 docker bridge 网络会拦截 multicast**,导致容器内节点看不见彼此。
 
-`network_mode: host` 让容器用宿主机的网络栈,直接走 multicast。
+本仓库选择**自定义 bridge**(`ros2_net`,子网 `172.20.0.0/24`),原因:
+- 跟系统 `docker_default` 隔离,不让无关容器"窜"进 ROS 节点组
+- 容器固定 IP(`172.20.0.10`),便于 `ROS_STATIC_PEERS` 配置
+- bridge 内 multicast 在同一 docker 网络内**能正常通**——本仓库默认 fastdds + 单机场景下,所有节点都在 `ros2_dev` 容器里,bridge 完全够用
+
+如果做**跨主机 ROS2 部署**(PC ↔ RDK X5 ↔ RK3506,见 `100-embedded-deployment.md`),需要 `network_mode: host` 或 host gateway。
 
 ### 3.3 为什么 bind mount 整个工程
 
@@ -158,28 +176,28 @@ ROS2 默认用 DDS multicast 在同一网段自动发现节点。多容器或跨
 
 ```powershell
 # 构建镜像
-docker compose -f D:\xs\ros2\docker\docker-compose.yml build
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml build
 
 # 启动(后台)
-docker compose -f D:\xs\ros2\docker\docker-compose.yml up -d
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml up -d
 
 # 状态
-docker compose -f D:\xs\ros2\docker\docker-compose.yml ps
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml ps
 
-# 进开发终端
-docker exec -it ros2_dev bash -lc "source /root/ros2_ws/install/setup.bash && exec bash"
+# 进开发终端(必须先 source ROS2 + 本项目 install)
+docker exec -it ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && exec bash"
 
 # 一次性跑命令
 docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon build --packages-select py_pubsub"
 
 # 关
-docker compose -f D:\xs\ros2\docker\docker-compose.yml down
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml down
 
 # 重启
-docker compose -f D:\xs\ros2\docker\docker-compose.yml restart
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml restart
 
 # 删容器(保留镜像)
-docker compose -f D:\xs\ros2\docker\docker-compose.yml down
+docker compose -p ros2 -f D:\xs\ros2\docker\docker-compose.yml down
 
 # 删镜像
 docker rmi ros2-humble-dev:latest
@@ -192,30 +210,49 @@ docker logs -f ros2_dev
 
 ## 5. 一键启动脚本
 
-### 5.1 start.ps1 (Windows)
-```powershell
-powershell D:\xs\ros2\start.ps1
+本仓库的所有"一键"命令都在 `scripts/` 目录下,**没有**项目根的 `start.ps1` /
+`start.sh` / `build.sh`(老文档里残留的引用一律作废,统一指向 `scripts/`)。
+
+### 5.1 进入开发终端(交互式 shell)
+```bash
+bash scripts/shell.sh
 ```
 等价于:
-```powershell
-docker compose build     # 首次 5-10min
-docker compose up -d
-docker exec ros2_dev bash -lc "cd /root/ros2_ws && bash build.sh"
-docker exec -it ros2_dev bash -lc "source install/setup.bash && exec bash"
+- `docker ps` 看容器是否在跑
+- 如果没跑 → 自动 `docker run -d -it ... ros2-humble-dev:latest bash` 启起来
+- `docker exec -it ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && cd /root/ros2_ws && exec bash"`
+
+### 5.2 编译 12 个包(容器内)
+```bash
+bash scripts/build.sh
+```
+等价于:
+```bash
+source /opt/ros/humble/setup.bash
+cd /root/ros2_ws
+colcon build --symlink-install --executor sequential \
+  --packages-select <12 个包>
 ```
 
-### 5.2 start.sh (Linux/macOS)
+> ❗ **`--executor sequential` 必需**。colcon 默认 parallel,12 个包并行构建
+> 时 `cpp_custom_interface` 的 rosidl export cmake 会偶发 CMake 报错。
+> 串行构建 100% 稳定。详见 `doc/80-package-build.md`。
+
+### 5.3 跑所有测试
 ```bash
-./start.sh
+bash scripts/test.sh
+```
+等价于 `colcon test --executor sequential --packages-select <12 个包>` + `colcon test-result --all`。
+
+### 5.4 跑 launch demo
+```bash
+bash scripts/launch.sh pubsub_launch 30     # 跑 30 秒自动停
+bash scripts/launch.sh full_demo_launch -1  # -1 = 一直跑(后台)
 ```
 
-### 5.3 build.sh (容器内)
+### 5.5 清理构建产物
 ```bash
-bash build.sh
-# 1) source /opt/ros/humble/setup.bash
-# 2) colcon build --symlink-install --packages-select <all>
-# 3) ls install/
-# 4) 打印运行命令速查
+bash scripts/clean.sh   # 等价于 rm -rf build install log
 ```
 
 ---
@@ -337,22 +374,27 @@ services:
 
 ## 9. 在本仓库里跑
 
-### 9.1 一键启
+### 9.1 一键启(推荐用 Makefile)
 
 ```powershell
-powershell D:\xs\ros2\start.ps1
+make build          # 首次构建镜像
+make up             # 后台启动容器
+make shell          # 进入开发终端(自动 source ROS2 + install)
+make colcon-build   # 编译 12 包
+make colcon-test    # 跑 82 测试
+make full-demo      # 跑 11 节点 full_demo
 ```
 
 ### 9.2 进入后跑测试
 
 ```bash
-docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
+bash scripts/test.sh   # 推荐:自带 --executor sequential
 ```
 
 ### 9.3 跑 demo
 
 ```bash
-docker exec ros2_dev bash -lc "source /root/ros2_ws/install/setup.bash && ros2 launch bringup full_demo_launch.py"
+docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && ros2 launch bringup full_demo_launch.py"
 ```
 
 ---
diff --git a/doc/90-testing.md b/doc/90-testing.md
index c7fa4a5..cdc8711 100644
--- a/doc/90-testing.md
+++ b/doc/90-testing.md
@@ -287,15 +287,20 @@ TEST_F(MyFixture, SpinSomeWorks) {
 
 | 包 | 测试 | 用例数 | 通过率 |
 |---|---|---|---|
-| py_pubsub | pytest + in-process | 4/4 | 100% |
-| cpp_pubsub | gtest | 2/2 | 100% |
-| py_srv | pytest + Service | 1/1 | 100% |
-| py_action_demo | pytest + Action | 1/1 | 100% |
-| cpp_robot_tf2 | gtest + TF2 | 2/2 | 100% |
-| py_vision_demo | pytest + Image | 2/2 | 100% |
-| bringup | launch 6 文件就绪 | OK | 100% |
+| py_pubsub | pytest + in-process | 11/11 | 100% |
+| cpp_pubsub | gtest + launch_test | 4/4 | 100% |
+| py_srv | pytest + Service | 7/7 | 100% |
+| py_action_demo | pytest + Action | 5/5 | 100% |
+| cpp_robot_tf2 | gtest + TF2 + launch_test | 5/5 | 100% |
+| py_vision_demo | pytest + Image | 13/13 | 100% |
+| py_params | pytest + 参数校验 | 16/16 | 100% |
+| cpp_custom_interface | gtest + launch_test | 4/4 | 100% |
+| py_lifecycle_composable | pytest + Lifecycle | 6/6 | 100% |
+| cpp_qos_demo | gtest + launch_test | 5/5 | 100% |
+| py_overlay_dds | pytest + DDS 配置 | 6/6 | 100% |
+| bringup | launch 聚合(无单元测试) | 0/0 | n/a |
 
-**合计: 10/10 测试 100% PASSED**。
+**合计: 82/82 测试 100% PASSED**(64 pytest + 14 gtest + 4 launch_test)。
 
 ---
 
@@ -378,10 +383,18 @@ jobs:
 
 ## 9. 在本仓库里跑
 
-### 9.1 跑全部测试
+### 9.1 跑全部测试(推荐用脚本)
 
 ```bash
-docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
+docker exec ros2_dev bash /root/ros2_ws/scripts/test.sh
+# 或在容器内: bash scripts/test.sh
+```
+
+> ❗ `scripts/test.sh` 已带 `--executor sequential`,直接跑 12 包 82 用例稳定通过。
+
+**手动等价命令**:
+```bash
+docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --executor sequential --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds bringup && colcon test-result --all"
 ```
 
 ### 9.2 单包测试
@@ -400,17 +413,22 @@ cat build/cpp_pubsub/test_results/cpp_pubsub/test_pub_sub.gtest.xml
 cat build/py_pubsub/pytest.xml
 ```
 
-### 9.4 当前结果(固化)
+### 9.4 当前结果(2026-08-04 实测)
 
 ```
-✅ cpp_pubsub: 2/2 PASSED
-✅ py_pubsub: 4/4 PASSED
-✅ py_srv: 1/1 PASSED
-✅ py_action_demo: 1/1 PASSED
-✅ cpp_robot_tf2: 2/2 PASSED
-✅ py_vision_demo: 2/2 PASSED
-✅ bringup: OK (no tests)
-合计: 10/10 PASSED
+✅ py_pubsub:                 11/11  PASSED  (pytest)
+✅ cpp_pubsub:                 4/4    PASSED  (3 gtest + 1 launch_test)
+✅ py_srv:                     7/7    PASSED  (pytest)
+✅ py_action_demo:             5/5    PASSED  (pytest)
+✅ cpp_robot_tf2:              5/5    PASSED  (4 gtest + 1 launch_test)
+✅ py_vision_demo:             13/13  PASSED  (pytest)
+✅ py_params:                  16/16  PASSED  (pytest)
+✅ cpp_custom_interface:       4/4    PASSED  (3 gtest + 1 launch_test)
+✅ py_lifecycle_composable:    6/6    PASSED  (pytest)
+✅ cpp_qos_demo:               5/5    PASSED  (4 gtest + 1 launch_test)
+✅ py_overlay_dds:             6/6    PASSED  (pytest)
+✅ bringup:                    0/0    (launch 聚合,无单元测试)
+合计: 82/82 PASSED  (64 pytest + 14 gtest + 4 launch_test)
 ```
 
 ---
diff --git a/scripts/build.sh b/scripts/build.sh
index 58f0635..a32dac6 100644
--- a/scripts/build.sh
+++ b/scripts/build.sh
@@ -17,6 +17,7 @@ source /opt/ros/humble/setup.bash
 cd "${WORKSPACE}"
 
 colcon build --symlink-install \
+  --executor sequential \
   --packages-select \
     py_pubsub cpp_pubsub py_srv py_action_demo \
     cpp_robot_tf2 py_vision_demo py_params \
diff --git a/scripts/test.sh b/scripts/test.sh
index 93aa907..1131748 100644
--- a/scripts/test.sh
+++ b/scripts/test.sh
@@ -11,6 +11,7 @@ source /opt/ros/humble/setup.bash
 cd "${WORKSPACE}"
 
 colcon test \
+  --executor sequential \
   --packages-select \
     py_pubsub cpp_pubsub py_srv py_action_demo \
     cpp_robot_tf2 py_vision_demo py_params \