67 lines
1.8 KiB
Bash
67 lines
1.8 KiB
Bash
|
#!/usr/bin/env bash
|
||
|
|
set -euo pipefail
|
||
|
|
|
||
|
|
patterns=(
|
||
|
|
'ros2 launch go2_core go2_start.launch.py'
|
||
|
|
'/opt/ros/humble/bin/ros2 launch go2_core go2_start.launch.py'
|
||
|
|
'go2_start.launch.py'
|
||
|
|
'async_slam_toolbox_node'
|
||
|
|
'slam_toolbox'
|
||
|
|
'robot_state_publisher'
|
||
|
|
'robot_localization/ekf_node'
|
||
|
|
'go2_driver/lib/go2_driver/driver'
|
||
|
|
'go2_driver/lib/go2_driver/lowstate_to_imu'
|
||
|
|
'go2_twist_bridge/lib/go2_twist_bridge/twist_bridge'
|
||
|
|
'go2_perception/lib/go2_perception/cloud_accumulation'
|
||
|
|
'go2_perception/lib/go2_perception/pointcloud_to_laserscan_node'
|
||
|
|
'scan_throttle_node'
|
||
|
|
'scan_throttle.py'
|
||
|
|
'/opt/ros/humble/lib/rviz2/rviz2'
|
||
|
|
)
|
||
|
|
|
||
|
|
python3 - "${patterns[@]}" <<'PY'
|
||
|
|
import os
|
||
|
|
import signal
|
||
|
|
import sys
|
||
|
|
import time
|
||
|
|
patterns = sys.argv[1:]
|
||
|
|
me = os.getpid()
|
||
|
|
ppid = os.getppid()
|
||
|
|
rows = []
|
||
|
|
for name in os.listdir('/proc'):
|
||
|
|
if not name.isdigit():
|
||
|
|
continue
|
||
|
|
pid = int(name)
|
||
|
|
if pid in (me, ppid):
|
||
|
|
continue
|
||
|
|
try:
|
||
|
|
raw = open(f'/proc/{pid}/cmdline', 'rb').read()
|
||
|
|
cmd = raw.replace(b'\x00', b' ').decode('utf-8', 'replace')
|
||
|
|
except Exception:
|
||
|
|
continue
|
||
|
|
if cmd and any(pattern in cmd for pattern in patterns):
|
||
|
|
if 'go2_stop_mapping.sh' in cmd:
|
||
|
|
continue
|
||
|
|
rows.append((pid, cmd))
|
||
|
|
if not rows:
|
||
|
|
print('[go2_stop_mapping] no mapping processes found')
|
||
|
|
raise SystemExit(0)
|
||
|
|
for pid, cmd in sorted(rows):
|
||
|
|
print(f'[go2_stop_mapping] TERM pid={pid} {cmd[:220]}')
|
||
|
|
try:
|
||
|
|
os.kill(pid, signal.SIGTERM)
|
||
|
|
except ProcessLookupError:
|
||
|
|
pass
|
||
|
|
time.sleep(1.0)
|
||
|
|
for pid, cmd in sorted(rows):
|
||
|
|
try:
|
||
|
|
os.kill(pid, 0)
|
||
|
|
except ProcessLookupError:
|
||
|
|
continue
|
||
|
|
print(f'[go2_stop_mapping] KILL pid={pid}')
|
||
|
|
try:
|
||
|
|
os.kill(pid, signal.SIGKILL)
|
||
|
|
except ProcessLookupError:
|
||
|
|
pass
|
||
|
|
PY
|