61 lines
2.0 KiB
Bash
61 lines
2.0 KiB
Bash
#!/usr/bin/env bash
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# scripts/launch.sh —— 跑 demo launch(可限时自动关停)
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#
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# 用法:
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# # 一直跑(前台,Ctrl+C 停)
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# docker exec -it ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch
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#
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# # 跑 N 秒后自动停(脚本、CI、截图用)
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# docker exec ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch 10
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#
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# 第一个参数:launch 文件名(不带 .py),默认 pubsub_launch
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# 第二个参数:运行时长(秒),默认 0 = 不限时
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set -eo pipefail
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WORKSPACE="${WORKSPACE:-/root/ros2_ws}"
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NAME="${1:-pubsub_launch}"
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RUNTIME="${2:-0}"
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source /opt/ros/humble/setup.bash
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source "${WORKSPACE}/install/setup.bash"
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cd "${WORKSPACE}"
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# RUNTIME 合法化:非整数 / 空 / "forever" → -1(一直跑)
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if ! [[ "${RUNTIME}" =~ ^-?[0-9]+$ ]]; then
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RUNTIME="-1"
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fi
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echo "[launch.sh] starting: ros2 launch bringup ${NAME}.py (runtime=${RUNTIME}s; -1 = forever)"
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if [ "${RUNTIME}" -ge 0 ]; then
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# 后台跑 + 给定时炸弹
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ros2 launch bringup "${NAME}.py" &
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LAUNCH_PID=$!
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if [ "${RUNTIME}" -gt 0 ]; then
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sleep "${RUNTIME}"
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echo "[launch.sh] reaching runtime limit, killing..."
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kill -INT "${LAUNCH_PID}" 2>/dev/null || true
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pkill -f "ros2 launch bringup ${NAME}" 2>/dev/null || true
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# ❗ launch fork 出的 chatter_* 子进程 reparent 到 PID 1,SIGINT 不会传递
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pkill -INT -f chatter_publisher 2>/dev/null || true
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pkill -INT -f chatter_subscriber 2>/dev/null || true
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pkill -INT -f chatter_publisher_cpp 2>/dev/null || true
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pkill -INT -f chatter_subscriber_cpp 2>/dev/null || true
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sleep 1
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pkill -9 -f chatter 2>/dev/null || true
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wait "${LAUNCH_PID}" 2>/dev/null || true
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else
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# 0 = 等用户 Ctrl+C
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wait "${LAUNCH_PID}" 2>/dev/null || true
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fi
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else
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# -1 = forever(后台跑,主进程立刻返回)
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nohup ros2 launch bringup "${NAME}.py" >/dev/null 2>&1 &
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disown
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echo "[launch.sh] ✅ launched in background (forever mode, pid=$!)"
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echo "[launch.sh] (用 'pkill -f chatter' 或 'bash scripts/clean.sh' 清理)"
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fi
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echo "[launch.sh] ✅ exit"
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