ROS2_learn/scripts/README.md

scripts/ · ROS2 学习套件常用命令脚本

设计:把所有"长 shell 命令 + docker exec 路径"封装成可执行 shell 脚本, 避免小白每次都手敲容易出错的长命令。所有脚本都跑在容器内 ros2_dev。

跟 Makefile / docker compose 不冲突,就是更零碎场景的薄封装。

容器生命周期

脚本	作用	用法(PowerShell)
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)

# A. 直接通过 docker exec 调脚本(Widows / Linux 都行)
docker exec ros2_dev bash /root/ros2_ws/scripts/build.sh
docker exec ros2_dev bash /root/ros2_ws/scripts/test.sh
docker exec ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch

# B. 整段进容器再跑(Windows 推荐 + 调试时)
docker exec -it ros2_dev bash
source /opt/ros/humble/setup.bash
source /root/ros2_ws/install/setup.bash
bash scripts/build.sh

维护脚本(项目根目录,不在容器内)

脚本	作用
make_build.ps1	PowerShell 一键:build 镜像 → up 容器
make_up.ps1	PowerShell 一键:docker compose -p ros2 up -d
make_shell.ps1	PowerShell 一键:make shell 等价

(计划中,后续补上)