32 lines
1.0 KiB
Bash
Executable File
32 lines
1.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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# run_all_stop.sh — 干净停止所有仿真、导航、视觉进程
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echo "[run_all_stop] Stopping all simulation processes..."
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# 1. 发送循环停止信号（让 run_all.sh 优雅退出）
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touch /workspace/.run_all_stop
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# 2. 发送 SIGTERM 给 run_all.sh（触发其 cleanup trap）
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PIDS=$(pgrep -f "run_all\.sh" | grep -v $$ || true)
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if [[ -n "$PIDS" ]]; then
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echo "[run_all_stop] Sending SIGTERM to run_all.sh: $PIDS"
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kill $PIDS 2>/dev/null || true
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fi
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# 3. 等待优雅退出
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sleep 3
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# 4. 强制清理残留的 ROS2 / Gazebo / 视觉进程
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echo "[run_all_stop] Force killing remaining processes..."
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pkill -9 -f "gz sim\|gz launch\|ros2 launch\|ros2 run" 2>/dev/null || true
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pkill -9 -f "explore_lite\|nav2_bringup\|turtlebot3_gazebo" 2>/dev/null || true
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pkill -9 -f "vision_yolo\|vision_daemon" 2>/dev/null || true
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pkill -9 -f "selkies-gstreamer\|code-server" 2>/dev/null || true
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# 5. 清理状态文件
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rm -f /workspace/.run_all_stop
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rm -f /workspace/.vision_daemon_stop
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echo "[run_all_stop] All processes stopped."
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