fix

scripts/README.md

@@ -12,7 +12,10 @@
 | `build.sh`   | 容器内编译 12 包(替代 `bash build.sh` 缺失的死链) | `docker exec ros2_dev bash /root/ros2_ws/scripts/build.sh` |
 | `test.sh`    | 容器内跑 12 包测试 + 汇总 + 详细日志 | `docker exec ros2_dev bash /root/ros2_ws/scripts/test.sh` |
 | `launch.sh`  | 容器内启动 `bringup/<name>.py` | `docker exec ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch` |
+| `e2e_check.sh` | 端到端冒烟:启 4 节点跑 8s,验证 topic 互通 + 清理子进程 | `docker exec ros2_dev bash /root/ros2_ws/scripts/e2e_check.sh` |
 | `shell.sh`   | 自动判断容器状态,进入开发终端 | `bash scripts/shell.sh` |
+| `clean.sh`   | 删 `build/install/log`(编译产物) | `docker exec ros2_dev bash /root/ros2_ws/scripts/clean.sh` |
+| `clean_ros.sh` | SIGKILL 所有 chatter_* 残留进程(launch.sh forever 模式调试后用) | `docker exec ros2_dev bash /root/ros2_ws/scripts/clean_ros.sh` |
 
 ## 调用方式(2 选 1)
 

scripts/e2e_check.sh

@@ -16,21 +16,32 @@ sleep 3
 echo
 echo "[e2e] === 验证 topic ==="
 echo "[e2e] --- topic list ---"
-ros2 topic list --no-daemon | head -10
+ros2 topic list 2>/dev/null
 echo
 echo "[e2e] --- topic hz /chatter (3s) ---"
-timeout 3 ros2 topic hz /chatter --no-daemon 2>&1 | tail -5 || true
+# 用 stdbuf 强制行缓冲,避免 docker exec 捕获不到输出
+stdbuf -oL -eL timeout 3 ros2 topic hz /chatter 2>&1 | tail -5 || true
 echo
 echo "[e2e] --- topic info /chatter -v ---"
-ros2 topic info /chatter -v --no-daemon | head -20
+# 关键:不要 | head -N,会触发 BrokenPipe 让 ros2 崩
+# 用 ros2 自带 --no-arr 之外的参数,或者重定向后再过滤
+ros2 topic info /chatter -v 2>/dev/null | awk 'NR<=20' || true
 echo
 echo "[e2e] --- node list ---"
-ros2 node list --no-daemon
+ros2 node list 2>/dev/null
 
 echo
 echo "[e2e] 关停 launch..."
 kill -INT "${LAUNCH_PID}" 2>/dev/null || true
 pkill -f "ros2 launch bringup" 2>/dev/null || true
+# ❗ ros2 launch fork 出的 chatter_* 子进程会 reparent 到 PID 1(孤儿),
+#    SIGINT 给 launch 不会传递给它们,必须显式 pkill
+pkill -INT -f chatter_publisher 2>/dev/null || true
+pkill -INT -f chatter_subscriber 2>/dev/null || true
+pkill -INT -f chatter_publisher_cpp 2>/dev/null || true
+pkill -INT -f chatter_subscriber_cpp 2>/dev/null || true
+sleep 1
+pkill -9 -f chatter 2>/dev/null || true
 wait "${LAUNCH_PID}" 2>/dev/null || true
 echo
 echo "[e2e] ✅ DONE. 详细日志: cat /tmp/e2e_launch.log"

scripts/launch.sh

@@ -37,6 +37,13 @@ if [ "${RUNTIME}" -ge 0 ]; then
     echo "[launch.sh] reaching runtime limit, killing..."
     kill -INT "${LAUNCH_PID}" 2>/dev/null || true
     pkill -f "ros2 launch bringup ${NAME}" 2>/dev/null || true
+    # ❗ launch fork 出的 chatter_* 子进程 reparent 到 PID 1,SIGINT 不会传递
+    pkill -INT -f chatter_publisher 2>/dev/null || true
+    pkill -INT -f chatter_subscriber 2>/dev/null || true
+    pkill -INT -f chatter_publisher_cpp 2>/dev/null || true
+    pkill -INT -f chatter_subscriber_cpp 2>/dev/null || true
+    sleep 1
+    pkill -9 -f chatter 2>/dev/null || true
     wait "${LAUNCH_PID}" 2>/dev/null || true
   else
     # 0 = 等用户 Ctrl+C
@@ -47,6 +54,7 @@ else
   nohup ros2 launch bringup "${NAME}.py" >/dev/null 2>&1 &
   disown
   echo "[launch.sh] ✅ launched in background (forever mode, pid=$!)"
+  echo "[launch.sh] (用 'pkill -f chatter' 或 'bash scripts/clean.sh' 清理)"
 fi
 
 echo "[launch.sh] ✅ exit"