#!/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"