加入本机订阅话题的隔离机制,修改话题名字避免被内网透传消息引发冲突

scripts/linker_hand_control.sh

@@ -10,6 +10,11 @@ LOG_FILE="${WS_DIR}/log/linker_hand_control.log"
 CAN_INTERFACES=(can0 can1)
 CAN_BITRATE=1000000
 
+# Keep this driver isolated from ROS 2 nodes on other machines in the same LAN.
+# Without this, DDS discovery can pick up stale linker_hand_sdk nodes from the
+# subnet and make the same topic appear to have multiple publishers.
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+
 usage() {
   echo "Usage: $0 {start|stop|status}"
 }
@@ -45,6 +50,11 @@ source_workspace() {
   set -u
 }
 
+restart_ros_daemon_localhost() {
+  ros2 daemon stop >/dev/null 2>&1 || true
+  ros2 daemon start >/dev/null 2>&1 || true
+}
+
 start_can() {
   for can_if in "${CAN_INTERFACES[@]}"; do
     if ! ip link show "${can_if}" >/dev/null 2>&1; then
@@ -77,13 +87,14 @@ start_driver() {
   fi
 
   source_workspace
+  restart_ros_daemon_localhost
   start_can
 
   echo "Starting linker_hand service..."
   echo "Log: ${LOG_FILE}"
 
   : > "${LOG_FILE}"
-  setsid bash -lc "set +u; source '${WS_DIR}/install/setup.bash'; set -u; exec ros2 launch linker_hand_ros2_sdk linker_hand_double.launch.py" \
+  setsid bash -lc "export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST; set +u; source '${WS_DIR}/install/setup.bash'; set -u; exec ros2 launch linker_hand_ros2_sdk linker_hand_double.launch.py" \
     >> "${LOG_FILE}" 2>&1 &
 
   local pid=$!
@@ -151,6 +162,8 @@ status_driver() {
     echo "linker_hand service is not running"
   fi
 
+  echo "ROS_AUTOMATIC_DISCOVERY_RANGE=${ROS_AUTOMATIC_DISCOVERY_RANGE}"
+
   for can_if in "${CAN_INTERFACES[@]}"; do
     if ip link show "${can_if}" >/dev/null 2>&1; then
       ip -details link show "${can_if}" | sed -n '1,2p'