23 lines
480 B
Bash
Executable File
23 lines
480 B
Bash
Executable File
#!/bin/bash
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set -e
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# ===== 环境 =====
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source /opt/ros/humble/setup.bash
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source /home/nvidia/Downloads/sweeper_200/install/setup.bash
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# ===== 信号处理（这是核心）=====
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terminate() {
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echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
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kill -TERM "$ROS2_PID"
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wait "$ROS2_PID"
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exit 0
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}
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trap terminate SIGINT SIGTERM
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# ===== 启动 launch（前台语义）=====
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ros2 launch launch_system start_all.launch.py &
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ROS2_PID=$!
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wait "$ROS2_PID"
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