diff --git a/start_all (copy).sh b/start_all (copy).sh
new file mode 100755
index 0000000..7563816
--- /dev/null
+++ b/start_all (copy).sh	
@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+# ===== 环境 =====
+source /opt/ros/humble/setup.bash
+source /home/nvidia/Downloads/sweeper_200/install/setup.bash
+
+# ===== 信号处理（这是核心）=====
+terminate() {
+    echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
+    kill -TERM "$ROS2_PID"
+    wait "$ROS2_PID"
+    exit 0
+}
+
+trap terminate SIGINT SIGTERM
+
+# ===== 启动 launch（前台语义）=====
+ros2 launch launch_system start_all.launch.py &
+ROS2_PID=$!
+
+wait "$ROS2_PID"