fix

doc/01-quickstart.md

@@ -248,22 +248,23 @@ 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**:
+**预期输出**(节点名是 `bringup/launch/pubsub_launch.py` 里 `name=` 字段决定的):
 ```
-[INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-03-...
+[INFO] [launch]: All log files can be found below /root/.ros/log/...
 [INFO] [launch]: Default logging verbosity is set to INFO
-[INFO] [talker-1]: process started with pid [56]
-[INFO] [listener-2]: process started with pid [58]
-[INFO] [talker-3]: process started with pid [60]
-[INFO] [listener-4]: process started with pid [62]
-[talker-1] [INFO] [...] talker_py started -> topic=chatter, period=500ms
-[listener-2] [INFO] [...] listener_py subscribed <- chatter
-[talker-3] [INFO] [...] talker_cpp started -> topic=chatter, period=500ms
-[listener-4] [INFO] [...] listener_cpp subscribed <- chatter
-[listener-2] [INFO] [...] recv: "Hello from PY, seq=0"
-[listener-4] [INFO] [...] recv: "Hello from C++, seq=0"
-[listener-4] [INFO] [...] recv: "Hello from PY, seq=0"   ← **跨语言互通!**
-[listener-2] [INFO] [...] recv: "Hello from C++, seq=0"   ← **跨语言互通!**
+[INFO] [chatter_publisher-1]: process started with pid [2656]
+[INFO] [chatter_publisher_cpp-2]: process started with pid [2658]
+[INFO] [chatter_subscriber-3]: process started with pid [2660]
+[INFO] [chatter_subscriber_cpp-4]: process started with pid [2662]
+[chatter_publisher_cpp-2] [INFO] [...] ChatterPublisher started: rate=2.00 Hz, topic="chatter"
+[chatter_publisher-1]    [INFO] [...] ChatterPublisher started: rate=2.00 Hz, topic="chatter"
+[chatter_subscriber-3]   [INFO] [...] ChatterSubscriber subscribed: topic="chatter"
+[chatter_subscriber_cpp-4] [INFO] [...] ChatterSubscriber subscribed: topic="chatter"
+[chatter_subscriber-3]   [INFO] [...] recv #0: "Hello from PY, seq=0"
+[chatter_subscriber_cpp-4] [INFO] [...] recv #0: "Hello from C++, seq=0"
+[chatter_subscriber-3]   [INFO] [...] recv #1: "Hello from C++, seq=0"   ← 跨语言互通
+[chatter_subscriber_cpp-4] [INFO] [...] recv #1: "Hello from PY, seq=1"   ← 跨语言互通
+...
 ```
 
 按 **Ctrl+C** 退出。
@@ -278,15 +279,13 @@ docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root
 **预期输出**:
 ```
 /chatter
-/joint_states
 /parameter_events
 /rosout
-/tf
 ```
 
 **看 chatter 频率**:
 ```bash
-docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && ros2 topic hz /chatter --no-daemon"
+docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && ros2 topic hz /chatter"
 ```
 
 **预期**:
@@ -295,7 +294,7 @@ average rate: 4.000
     min: 0.250s max: 0.260s std dev: 0.00302s window: 10
 ```
 
-(4Hz = 2 talker × 2Hz)
+(4Hz = 2 publisher × 2Hz)
 
 ### 5.3 看通信拓扑(可视化)
 
@@ -380,7 +379,7 @@ source .venv/bin/activate
 - [ ] `docker ps` 看到 `ros2_dev` 容器 `Up`
 - [ ] `docker exec ros2_dev echo hello` 输出 `hello`
 - [ ] `bash scripts/build.sh` 12 packages 全 build 成功
-- [ ] `bash scripts/test.sh` 全过(12 packages / 78 tests, 0 failed)
+- [ ] `bash scripts/test.sh` 全过(12 packages / 82 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
@@ -399,6 +398,28 @@ source .venv/bin/activate
 - Win/macOS:启动 Docker Desktop,等右下角图标稳定
 - Linux:`sudo systemctl start docker`
 
+### Q1.4: `ros2 topic info` 显示 Publisher count: 4(应该是 2)
+**原因**:`bash scripts/launch.sh pubsub_launch forever` 或多次调试后,launch fork 出的 `chatter_publisher_*` 子进程 reparent 到容器 PID 1,下次启动 launch 又起 2 个,累计 4 个。
+**解决**:
+```bash
+docker exec ros2_dev bash /root/ros2_ws/scripts/clean_ros.sh
+```
+
+### Q1.5: `docker compose up` 报 `Pool overlaps with other one on this address space`
+```
+Network ros2_ros2_net Error Error response from daemon:
+invalid pool request: Pool overlaps with other one on this address space
+failed to create network ros2_ros2_net
+```
+**原因**:compose project 名 `ros2` 让网络名前缀成 `ros2_ros2_net`,但仓库里手动(或上次启动)已经创建了 `ros2_net`,子网重叠 daemon 拒绝。
+**解决 1(推荐)**:绕过 compose,直接走 docker run(参考 Step 3)。
+**解决 2**:
+```bash
+docker rm -f ros2_dev
+docker network rm ros2_net
+docker compose -p ros2 -f docker/docker-compose.yml up -d
+```
+
 ### Q2: 构建镜像很慢,卡在 `pulling image`
 **原因**: 网络慢 / 在国内
 **解决**: