feat: 基于Python ROS2的控制程序

src/transport_kcp.c

@@ -1799,6 +1799,8 @@ int kcp_conn_close(kcp_conn_t *conn) {
         pthread_mutex_lock(&conn->kcp_mu);
         atomic_store(&conn->closed, 1);
         if (conn->owns_socket && !conn->socket_closed) {
+            /* Wake the blocking recv thread before closing the shared UDP socket. */
+            (void) shutdown(conn->fd, SHUT_RDWR);
             close(conn->fd);
             conn->socket_closed = 1;
         }