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doc/01-quickstart.md

@@ -163,7 +163,15 @@ cd /root/ros2_ws                     # 进入工作空间
 
 ### 4.2 编译所有包
 ```bash
-bash build.sh
+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)*
+
+**手动等价命令**:
+```bash
+source /opt/ros/humble/setup.bash
+cd /root/ros2_ws
+colcon build --symlink-install
 ```
 
 **预期输出(末尾)**:
@@ -194,9 +202,7 @@ Summary: 7 packages finished [2min 30s]
 
 ### 4.3 跑测试(可选)
 ```bash
-source /opt/ros/humble/setup.bash
-source /root/ros2_ws/install/setup.bash
-colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup
+bash scripts/test.sh
 ```
 
 **预期**:
@@ -211,9 +217,8 @@ Summary: 7 packages finished [25s]
 
 ### 5.1 启动 4 个节点(2 Python + 2 C++)
 ```bash
-source /opt/ros/humble/setup.bash
-source /root/ros2_ws/install/setup.bash
-ros2 launch bringup pubsub_launch.py
+bash scripts/launch.sh pubsub_launch 30
+# 第 2 个参数是运行时长(秒);空着 = 一直跑
 ```
 
 **预期输出**:
@@ -347,12 +352,12 @@ source .venv/bin/activate
 
 - [ ] `docker ps` 看到 `ros2_dev` 容器 `Up`
 - [ ] `docker exec ros2_dev echo hello` 输出 `hello`
-- [ ] `bash build.sh` 7 packages 全 build 成功
-- [ ] `colcon test` 全过(7 packages, 0 failed)
-- [ ] `ros2 launch bringup pubsub_launch.py` 启动 4 节点
-- [ ] `ros2 topic list` 看到 `/chatter`
-- [ ] `ros2 topic hz /chatter` 显示 ~4Hz
-- [ ] `ros2 topic info chatter -v` 看到 Python + C++ pub/sub
+- [ ] `bash scripts/build.sh` 12 packages 全 build 成功
+- [ ] `bash scripts/test.sh` 全过(12 packages / 78 tests, 0 failed)
+- [ ] `bash scripts/launch.sh pubsub_launch 30` 启动 4 节点
+- [ ] `docker exec ros2_dev bash -c "ros2 topic list"` 看到 `/chatter`
+- [ ] `docker exec ros2_dev bash -c "ros2 topic hz /chatter --no-daemon"` 显示 ~4Hz
+- [ ] `docker exec ros2_dev bash -c "ros2 topic info /chatter -v --no-daemon"` 看到 Python + C++ pub/sub
 - [ ] venv 装好且激活,`python -c "import sys; print(sys.executable)"` 显示 `.venv` 路径
 
 如果有任何一项 ✗,看 [Step 8 FAQ](#step-8-常见问题-faq)。
@@ -379,12 +384,12 @@ source .venv/bin/activate
 ```
 然后 `docker compose build` 重试。
 
-### Q3: `bash build.sh` 报 `rcl_xxx not found`
+### Q3: `bash scripts/build.sh` 报 `rcl_xxx not found`
 **原因**: 没 source ROS2
 **解决**:
 ```bash
 source /opt/ros/humble/setup.bash
-bash build.sh
+bash scripts/build.sh
 ```
 
 **或者** 把这句加进 `~/.bashrc`:
@@ -427,8 +432,8 @@ sudo apt install ros-humble-<pkg>
 **解决**:
 ```bash
 cd /root/ros2_ws
-rm -rf build install log
-colcon build --symlink-install
+bash scripts/clean.sh   # 等价于 rm -rf build install log
+bash scripts/build.sh
 ```
 
 ### Q10: 容器跑一段时间后磁盘满了
@@ -436,8 +441,8 @@ colcon build --symlink-install
 **解决**:
 ```bash
 # 进容器清理
-cd /root/ros2_ws && rm -rf build install log
-bash build.sh
+docker exec ros2_dev bash /root/ros2_ws/scripts/clean.sh
+docker exec ros2_dev bash /root/ros2_ws/scripts/build.sh
 
 # 或清理 Docker
 docker system prune -a