It's definitely a stink bug. They're harmless to humans but will eat your plants. Having just one doesn't mean there's an infestation, there could be a dozen or so in the neighborhood. But if you have a dozen around (and in) your house, you probably are infested. Indoor pesticides usually don't kill them. Outdoor pesticides usually do. If you just see the one, you could leave it be, it won't hurt you - they don't sting or bite.
The "foul odor" they emit is actually similar to cilantro. And the human perception to the odor is also similar: some people find it horribly offensive, other people aren't affected by it at all.
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