118 lines
3.1 KiB
Bash
Executable File
118 lines
3.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Clean leftover slave-board Autoware/control/vehicle processes.
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#
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# Usage:
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# ./cleanup_slave_autoware.sh
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#
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# Notes:
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# This script is intended for the slave Orin. It stops the slave launch,
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# control containers, chassis/CAN bridge, MRM, diagnostics, and derived ROS
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# processes. Do not run it on a board where you intentionally keep another
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# Autoware stack running in the same ROS environment.
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set -euo pipefail
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m'
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log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
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log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
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script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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find_workspace_root() {
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if [[ -n "${SLAVE_WORKSPACE_ROOT:-}" ]]; then
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echo "${SLAVE_WORKSPACE_ROOT}"
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return
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fi
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local candidates=(
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"${PWD}"
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"${script_dir}"
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)
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for candidate in "${candidates[@]}"; do
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if [[ -f "${candidate}/install/setup.bash" ]]; then
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(cd "${candidate}" && pwd)
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return
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fi
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done
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echo "${script_dir}"
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}
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WORKSPACE_ROOT="$(find_workspace_root)"
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PATTERNS=(
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"run_slave_real_vehicle.sh"
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"ros2 launch.*ecar_slave"
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"ros2 launch.*farui_launch.*/launch/ecar_slave"
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"launch_ros_[0-9]+"
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"launch_ros"
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"component_container"
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"component_container_mt"
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"robot_state_publisher"
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"ecar_can"
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"ecar_can_receiver"
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"ecar_can_sender"
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"socket_can"
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"socket_can_receiver"
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"socket_can_sender"
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"vehicle_velocity_converter"
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"mrm_emergency_stop_operator"
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"mrm_handler"
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"hazard_status_converter"
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"diagnostic_graph_aggregator"
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"autoware_trajectory_follower"
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"autoware_lane_departure_checker"
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"autoware_shift_decider"
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"autoware_vehicle_cmd_gate"
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"autoware_operation_mode_transition_manager"
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"autoware_autonomous_emergency_braking"
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"autoware_control_evaluator"
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"glog_component"
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"heartbeat_monitor.sh"
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)
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MATCH_RE='run_slave_real_vehicle|ecar_slave|component_container|robot_state_publisher|ecar_can|socket_can|vehicle_velocity_converter|mrm_|hazard_status|diagnostic_graph|trajectory_follower|lane_departure|shift_decider|vehicle_cmd_gate|operation_mode_transition|autonomous_emergency_braking|control_evaluator|glog_component|launch_ros|heartbeat_monitor'
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terminate_patterns() {
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local signal="$1"
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local pattern
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for pattern in "${PATTERNS[@]}"; do
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pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
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done
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}
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log_info "Workspace: ${WORKSPACE_ROOT}"
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if [[ -f "${WORKSPACE_ROOT}/install/setup.bash" ]]; then
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cd "${WORKSPACE_ROOT}"
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set +u
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source install/setup.bash
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set -u
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else
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log_warn "Workspace setup file not found; continuing without sourcing: ${WORKSPACE_ROOT}/install/setup.bash"
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fi
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log_info "Sending TERM to leftover slave Autoware processes."
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terminate_patterns TERM
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sleep 3
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if pgrep -f "${MATCH_RE}" >/dev/null 2>&1; then
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log_warn "Some slave processes are still alive; sending KILL."
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terminate_patterns KILL
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sleep 1
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fi
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log_info "Restarting ROS daemon to refresh node discovery."
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ros2 daemon stop >/dev/null 2>&1 || true
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ros2 daemon start >/dev/null 2>&1 || true
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log_info "Remaining matching processes:"
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ps -ef | grep -E "${MATCH_RE}" | grep -v grep || true
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log_info "Remaining ROS nodes:"
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ros2 node list 2>/dev/null || true
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