48 lines
1.7 KiB
Bash
48 lines
1.7 KiB
Bash
#!/usr/bin/env bash
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# scripts/e2e_check.sh —— 端到端冒烟测试
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# 启动 bringup/pubsub_launch 8 秒,期间持续验证 chatter 真的有消息
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set -eo pipefail
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WORKSPACE="${WORKSPACE:-/root/ros2_ws}"
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source /opt/ros/humble/setup.bash
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source "${WORKSPACE}/install/setup.bash"
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cd "${WORKSPACE}"
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echo "[e2e] 启动 bringup/pubsub_launch.py (≈6s 冒烟)..."
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ros2 launch bringup pubsub_launch.py > /tmp/e2e_launch.log 2>&1 &
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LAUNCH_PID=$!
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sleep 3
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echo
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echo "[e2e] === 验证 topic ==="
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echo "[e2e] --- topic list ---"
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ros2 topic list 2>/dev/null
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echo
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echo "[e2e] --- topic hz /chatter (3s) ---"
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# 用 stdbuf 强制行缓冲,避免 docker exec 捕获不到输出
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stdbuf -oL -eL timeout 3 ros2 topic hz /chatter 2>&1 | tail -5 || true
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echo
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echo "[e2e] --- topic info /chatter -v ---"
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# 关键:不要 | head -N,会触发 BrokenPipe 让 ros2 崩
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# 用 ros2 自带 --no-arr 之外的参数,或者重定向后再过滤
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ros2 topic info /chatter -v 2>/dev/null | awk 'NR<=20' || true
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echo
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echo "[e2e] --- node list ---"
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ros2 node list 2>/dev/null
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echo
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echo "[e2e] 关停 launch..."
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kill -INT "${LAUNCH_PID}" 2>/dev/null || true
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pkill -f "ros2 launch bringup" 2>/dev/null || true
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# ❗ ros2 launch fork 出的 chatter_* 子进程会 reparent 到 PID 1(孤儿),
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# SIGINT 给 launch 不会传递给它们,必须显式 pkill
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pkill -INT -f chatter_publisher 2>/dev/null || true
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pkill -INT -f chatter_subscriber 2>/dev/null || true
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pkill -INT -f chatter_publisher_cpp 2>/dev/null || true
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pkill -INT -f chatter_subscriber_cpp 2>/dev/null || true
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sleep 1
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pkill -9 -f chatter 2>/dev/null || true
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wait "${LAUNCH_PID}" 2>/dev/null || true
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echo
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echo "[e2e] ✅ DONE. 详细日志: cat /tmp/e2e_launch.log"
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