feat: 初始化 Go2 导航相关代码与配置

go2_autonomous_navigation/scripts/go2_stop_mapping.sh

@@ -0,0 +1,66 @@
+#!/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