disable some logs

kill_robot.sh

@@ -0,0 +1,159 @@
+#!/usr/bin/env bash
+
+#   ./kill_robot.sh                 # kill ROS 2 processes from this workspace
+#   ./kill_robot.sh -A              # kill all ROS 2 processes system-wide (dangerous)
+#   ./kill_robot.sh -n              # dry run (show PIDs only)
+#   ./kill_robot.sh -y              # no confirmation
+#   ./kill_robot.sh -v              # verbose logs
+
+set -Eeuo pipefail
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
+WS_DIR="${WS_DIR:-${SCRIPT_DIR}}"
+SCOPE_ALL=false
+DRY_RUN=false
+ASSUME_YES=false
+VERBOSE=false
+
+log() { echo "[kill_ros2] $*"; }
+vlog() { $VERBOSE && echo "[kill_ros2][debug] $*" || true; }
+
+usage() {
+  cat <<EOF
+Usage: $(basename "$0") [options]
+Options:
+  -A        Kill all ROS 2 processes system-wide (not only this workspace)
+  -n        Dry run (list candidate PIDs and commands)
+  -y        Assume yes (no confirmation prompt)
+  -v        Verbose output
+  -h        Show this help and exit
+Env:
+  WS_DIR    Workspace directory (default: script directory)
+EOF
+}
+
+while getopts ":Anyvh" opt; do
+  case $opt in
+    A) SCOPE_ALL=true ;;
+    n) DRY_RUN=true ;;
+    y) ASSUME_YES=true ;;
+    v) VERBOSE=true ;;
+    h) usage; exit 0 ;;
+    :) echo "Option -$OPTARG requires an argument" >&2; exit 2 ;;
+    \?) echo "Unknown option: -$OPTARG" >&2; usage; exit 2 ;;
+  esac
+done
+
+# Return 0 if PID is alive, else 1
+is_alive() { kill -0 "$1" 2>/dev/null; }
+
+# Check if a PID looks like a ROS process by inspecting its environment
+is_ros_env() {
+  local pid=$1
+  [[ -r "/proc/${pid}/environ" ]] || return 1
+  tr '\0' '\n' <"/proc/${pid}/environ" | grep -Eq '^(ROS_DISTRO=|RMW_IMPLEMENTATION=)'
+}
+
+# List candidate PIDs and their commands (tab-separated)
+list_candidates() {
+  local ps_out
+  # Use full command line; exclude our own shell/grep processes later
+  ps_out=$(ps -eo pid=,cmd=)
+  while IFS= read -r line; do
+    local pid cmd
+    pid=$(awk '{print $1}' <<<"$line")
+    cmd=${line#* } # everything after first space
+    # Skip self
+    [[ "$pid" -eq $$ || "$pid" -eq $PPID ]] && continue
+
+    # Scope filter
+    local in_scope=false
+    if $SCOPE_ALL; then
+      in_scope=true
+    else
+      # Focus on processes started from this workspace or via ros2 run/launch
+      if grep -qE "/install/.*/lib/" <<<"$cmd" ||
+         grep -qE "\bros2 (run|launch)\b" <<<"$cmd" ||
+         grep -qE "python(3)? .*launch" <<<"$cmd"; then
+        # If workspace path is known, prefer matches containing it
+        if grep -q "${WS_DIR}" <<<"$cmd" || $SCOPE_ALL; then in_scope=true; else in_scope=true; fi
+      fi
+    fi
+
+    $in_scope || continue
+
+    # Must look like a ROS process (has ROS env vars)
+    if is_ros_env "$pid"; then
+      printf "%s\t%s\n" "$pid" "$cmd"
+    else
+      vlog "skip pid=$pid (no ROS env) cmd=$cmd"
+    fi
+  done <<<"$ps_out"
+}
+
+confirm() {
+  $ASSUME_YES && return 0
+  read -r -p "Kill the above processes? [y/N] " ans || true
+  [[ "${ans,,}" == "y" || "${ans,,}" == "yes" ]]
+}
+
+kill_with_escalation() {
+  local pids=("$@")
+  local stages=(INT TERM KILL)
+  local stage
+  for stage in "${stages[@]}"; do
+    local alive=()
+    for pid in "${pids[@]}"; do
+      if is_alive "$pid"; then alive+=("$pid"); fi
+    done
+    ((${#alive[@]}==0)) && return 0
+
+    log "Sending SIG${stage} to ${#alive[@]} process(es): ${alive[*]}"
+    kill -s "$stage" -- "${alive[@]}" 2>/dev/null || true
+
+    # Wait up to 3s for this stage
+    for _ in {1..30}; do
+      sleep 0.1
+      local still=()
+      for pid in "${alive[@]}"; do is_alive "$pid" && still+=("$pid"); done
+      ((${#still[@]}==0)) && break
+      alive=("${still[@]}")
+    done
+  done
+}
+
+main() {
+  log "Workspace: ${WS_DIR} | Scope: $($SCOPE_ALL && echo all || echo workspace)"
+  local candidates
+  candidates=$(list_candidates || true)
+  if [[ -z "$candidates" ]]; then
+    log "No ROS 2 processes found to kill."
+    exit 0
+  fi
+
+  echo "Candidates (PID\tCMD):"
+  echo "$candidates" | sed 's/^/  /'
+
+  if $DRY_RUN; then
+    log "Dry run only. Exiting."
+    exit 0
+  fi
+
+  if ! confirm; then
+    log "Cancelled by user."
+    exit 1
+  fi
+
+  # Extract PIDs and kill
+  mapfile -t pids < <(awk -F '\t' '{print $1}' <<<"$candidates" | sort -u)
+  kill_with_escalation "${pids[@]}"
+
+  # Optionally stop ros2 daemon so it doesn't hold stale graph
+  if command -v ros2 >/dev/null 2>&1; then
+    ros2 daemon stop >/dev/null 2>&1 || true
+  fi
+
+  log "Done."
+}
+
+main "$@"