Initial import of FaRui Campus ADS v3.2

2026-06-05 14:20:30 +08:00
commit 2839d34fdb
6548 changed files with 1335203 additions and 0 deletions
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+#!/usr/bin/env bash
+# Clean leftover master-board Autoware/debug processes.
+#
+# 用法:
+#   ./cleanup_master_autoware.sh
+#
+# 说明:
+#   这个脚本用于主板调试后清理残留进程。
+#   如果你在同一块板上故意运行从板底盘驱动，不要执行本脚本，
+#   因为它会停止 ecar_can/socket_can 相关节点。
+
+set -euo pipefail
+
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
+log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
+
+PATTERNS=(
+  "run_ecar_master_debug.sh"
+  "run_preset_route_real_vehicle.sh"
+  "ros2 launch.*ecar_master"
+  "ros2 launch.*farui_launch"
+  "launch_ros_[0-9]+"
+  "launch_ros"
+  "component_container"
+  "component_container_mt"
+  "timoo_ros"
+  "pointcloud_process"
+  "map_hash_generator"
+  "imu_corrector"
+  "gyro_bias_validator"
+  "hipnuc"
+  "imu_sub"
+  "rqt_gui"
+  "rqt_gui_py_node"
+  "rviz2"
+  "ecar_can"
+  "ecar_can_receiver"
+  "ecar_can_sender"
+  "socket_can"
+  "socket_can_receiver"
+  "socket_can_sender"
+)
+
+terminate_patterns() {
+  local signal="$1"
+  local pattern
+
+  for pattern in "${PATTERNS[@]}"; do
+    pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
+  done
+}
+
+log_info "Sending TERM to leftover master Autoware processes."
+terminate_patterns TERM
+sleep 3
+
+if pgrep -f "component_container|component_container_mt|timoo_ros|map_hash_generator|imu_corrector|gyro_bias_validator|ecar_can|socket_can|rviz2|rqt_gui|launch_ros|ecar_can_receiver|ecar_can_sender|socket_can_receiver|socket_can_sender" >/dev/null 2>&1; then
+  log_warn "Some processes are still alive; sending KILL."
+  terminate_patterns KILL
+  sleep 1
+fi
+
+log_info "Restarting ROS daemon to refresh node discovery."
+ros2 daemon stop >/dev/null 2>&1 || true
+ros2 daemon start >/dev/null 2>&1 || true
+
+log_info "Remaining matching processes:"
+ps -ef | grep -E 'autoware|component_container|rviz2|timoo|ros2 launch|launch_ros|preset_route|ecar_can|socket_can|imu_corrector|gyro_bias|map_hash|rqt_gui' | grep -v grep || true
+
+log_info "Remaining ROS nodes:"
+ros2 node list 2>/dev/null || true
+