fix

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"