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scripts/shell.sh

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+#!/usr/bin/env bash
+# scripts/shell.sh —— 进入容器开发终端(交互式)
+#
+# 使用:
+#   bash scripts/shell.sh       (WSL / Git Bash / Linux / macOS)
+#
+# 容器长跑命令 = `tail -f /dev/null`,跟 docker-compose 等价。
+set -eo pipefail
+
+CONTAINER="${CONTAINER:-ros2_dev}"
+
+# 容器已跑 → 直接 exec
+if docker ps --format '{{.Names}}' | grep -qx "${CONTAINER}"; then
+  exec docker exec -it "${CONTAINER}" bash -lc \
+    'source /opt/ros/humble/setup.bash; source /root/ros2_ws/install/setup.bash; cd /root/ros2_ws; exec bash'
+fi
+
+# 容器没跑 → 尝试 start,不行就 run(用宿主当前目录挂进去)
+if docker ps -a --format '{{.Names}}' | grep -qx "${CONTAINER}"; then
+  docker start "${CONTAINER}" >/dev/null
+  exec docker exec -it "${CONTAINER}" bash -lc \
+    'source /opt/ros/humble/setup.bash; source /root/ros2_ws/install/setup.bash; cd /root/ros2_ws; exec bash'
+fi
+
+echo "[shell.sh] 容器 ${CONTAINER} 不存在,自动用本目录启动..."
+docker run -d -it \
+  --name "${CONTAINER}" \
+  -v "${PWD}:/root/ros2_ws" \
+  --network ros2_net \
+  ros2-humble-dev:latest \
+  bash >/dev/null
+
+exec docker exec -it "${CONTAINER}" bash -lc \
+  'source /opt/ros/humble/setup.bash; source /root/ros2_ws/install/setup.bash; cd /root/ros2_ws; exec bash'