ROS 2 / Gazebo / Autoware 一键清理与切换 Domain 使用指南

这篇文档把一套常用的清理函数整理成简单版本，适合日常排查：

ROS 2 进程残留
Gazebo 进程冲突
Fast DDS 共享内存脏状态
ROS_DOMAIN_ID 混乱导致看不到话题

1. 你会得到什么

两个函数：

ros_domain <id>：只切换 ROS_DOMAIN_ID
ros_clean [id]：清理 ROS/Gazebo 相关环境，可选同时切换 ROS_DOMAIN_ID

2. 函数代码（可直接放到 ~/.bashrc）

bash 复制代码

# ==============================
# ROS 2 / Gazebo / Autoware clean helpers
# Usage:
#   ros_clean         # clean processes + daemon + shm
#   ros_clean 0       # same as above, then export ROS_DOMAIN_ID=0
#   ros_clean 42      # same as above, then export ROS_DOMAIN_ID=42
#   ros_domain 0      # only switch ROS_DOMAIN_ID
# ==============================

ros_domain() {
    if [ -z "$1" ]; then
        echo "Usage: ros_domain <id>"
        return 1
    fi

    export ROS_DOMAIN_ID="$1"
    echo "[ros_domain] ROS_DOMAIN_ID set to: $ROS_DOMAIN_ID"
}

ros_clean() {
    local NEW_DOMAIN_ID="$1"

    echo "======================================"
    echo "[ros_clean] Start cleaning ROS/Gazebo"
    echo "======================================"

    echo "[1/9] Killing ROS 2 / Autoware / RViz / Gazebo related processes..."

    # ROS 2 / Autoware common
    pkill -9 -f "ros2" 2>/dev/null
    pkill -9 -f "rviz" 2>/dev/null
    pkill -9 -f "rviz2" 2>/dev/null
    pkill -9 -f "autoware" 2>/dev/null
    pkill -9 -f "component_container" 2>/dev/null
    pkill -9 -f "component_container_mt" 2>/dev/null
    pkill -9 -f "component_container_isolated" 2>/dev/null
    pkill -9 -f "static_transform_publisher" 2>/dev/null
    pkill -9 -f "robot_state_publisher" 2>/dev/null
    pkill -9 -f "joint_state_publisher" 2>/dev/null
    pkill -9 -f "joint_state_broadcaster" 2>/dev/null
    pkill -9 -f "parameter_bridge" 2>/dev/null
    pkill -9 -f "pointcloud_to_laserscan" 2>/dev/null
    pkill -9 -f "slam_toolbox" 2>/dev/null
    pkill -9 -f "nav2" 2>/dev/null
    pkill -9 -f "planner_server" 2>/dev/null
    pkill -9 -f "controller_server" 2>/dev/null
    pkill -9 -f "bt_navigator" 2>/dev/null
    pkill -9 -f "waypoint_follower" 2>/dev/null
    pkill -9 -f "map_server" 2>/dev/null
    pkill -9 -f "amcl" 2>/dev/null

    echo "[2/9] Killing Gazebo / Ignition / gz simulator related processes..."

    # Gazebo classic / Ignition / Gazebo Sim
    pkill -9 -f "gz sim" 2>/dev/null
    pkill -9 -f "gzserver" 2>/dev/null
    pkill -9 -f "gzclient" 2>/dev/null
    pkill -9 -f "gazebo" 2>/dev/null
    pkill -9 -f "ign gazebo" 2>/dev/null
    pkill -9 -f "ignition" 2>/dev/null
    pkill -9 -f "ruby $(which ign)" 2>/dev/null
    pkill -9 -f "ruby $(which gz)" 2>/dev/null

    echo "[3/9] Killing ros_gz / gazebo bridge / control helpers..."

    pkill -9 -f "ros_gz" 2>/dev/null
    pkill -9 -f "ros_ign" 2>/dev/null
    pkill -9 -f "spawn_entity" 2>/dev/null
    pkill -9 -f "create " 2>/dev/null
    pkill -9 -f "spawner" 2>/dev/null
    pkill -9 -f "controller_manager" 2>/dev/null
    pkill -9 -f "gz_ros2_control" 2>/dev/null

    echo "[4/9] Stopping ros2 daemon..."
    ros2 daemon stop >/dev/null 2>&1
    sleep 1

    echo "[5/9] Cleaning Fast DDS / shared memory leftovers..."
    rm -f /dev/shm/fastrtps_* 2>/dev/null
    rm -f /tmp/fastdds_* 2>/dev/null
    rm -f /tmp/fastrtps_* 2>/dev/null

    echo "[6/9] Cleaning user-level ROS temporary files..."
    rm -rf ~/.ros/log/latest 2>/dev/null
    find ~/.ros/log -maxdepth 1 -type d -name "20*" -mtime +7 -exec rm -rf {} \; 2>/dev/null

    echo "[7/9] Cleaning Gazebo temporary cache (safe subset)..."
    rm -rf ~/.gazebo/log/* 2>/dev/null
    rm -rf ~/.ignition/gazebo/log/* 2>/dev/null
    rm -rf ~/.gz/sim/log/* 2>/dev/null

    echo "[8/9] Restarting ros2 daemon..."
    ros2 daemon start >/dev/null 2>&1
    sleep 1

    echo "[9/9] Resetting ROS_DOMAIN_ID if requested..."
    if [ -n "$NEW_DOMAIN_ID" ]; then
        export ROS_DOMAIN_ID="$NEW_DOMAIN_ID"
        echo "[ros_clean] ROS_DOMAIN_ID set to: $ROS_DOMAIN_ID"
    else
        echo "[ros_clean] ROS_DOMAIN_ID unchanged: ${ROS_DOMAIN_ID:-<unset>}"
    fi

    echo "--------------------------------------"
    echo "[ros_clean] Done."
    echo "Current ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-<unset>}"
    echo "Tip: run source ~/.bashrc if needed."
    echo "======================================"
}

3. 使用方法（最常用）

3.1 只切换 Domain

bash 复制代码

ros_domain 88

3.2 清理并保留当前 Domain

bash 复制代码

ros_clean

3.3 清理并切到指定 Domain

bash 复制代码

ros_clean 88

4. 推荐排查流程（实战）

bash 复制代码

ros_clean 88
source ~/.bashrc
# 然后再启动仿真 + Autoware

如果你出现这些症状，优先跑一遍：

ros2 topic list 看到的话题不全
同名节点重复（duplicated node）
route 已设置但车不走
终端和主进程不在同一个 ROS_DOMAIN_ID

5. 注意事项

脚本里使用了大量 pkill -9，适合强制清场排障，不适合保留现场调试。
如果你有其他 ROS 工程同时运行，也会被一起清掉。
多终端场景下，记得每个终端都确认 echo $ROS_DOMAIN_ID。

6. 一句话总结

这套函数的核心价值：

先统一清场，再统一 Domain，再重启流程。

对 ROS 2 / Autoware 来说，这一步往往能直接解决大量通信异常问题。