fix

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"