FaulknerWu/smart-inspection
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Rename customs-tablet-frontend to public-frontend and add new features

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- Rename customs-tablet-frontend/ to public-frontend/ for broader scope
- Add new pages: customs, inspection with camera integration
- Add new services: apiClient.ts, backendApi.ts, normalizers.ts
- Add CameraFrame component for real-time video streaming
- Add scan_fixer module with clock_publisher and timestamp fix utilities
- Update startup scripts to support new frontend structure
- Update arm_server configuration and service files

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
FaulknerWu
2026-06-22 10:18:20 +08:00
parent 083d12016a
commit 1429442dbd
49 changed files with 2758 additions and 2141 deletions
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scripts/start_all.sh
+64 -47
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@@ -10,13 +10,30 @@
set -e
# ---- 可配置项（环境变量覆盖默认值） ----
AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$PROJECT_DIR}"
AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-/home/elephant/work/scan_fixer}"
AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
ROS_DISTRO="${ROS_DISTRO:-humble}"
ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
LOG_DIR="${LOG_DIR:-/tmp}"
LOCK_DIR="${LOCK_DIR:-/tmp}"
FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
ROS_DOMAIN_ID_VAL=1
BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
NAV2_LOG="$LOG_DIR/ros2_nav2.log"
CLOCK_LOG="$LOG_DIR/clock_publisher.log"
SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
FLASK_LOG="$LOG_DIR/agv_flask.log"
mkdir -p "$LOG_DIR"
echo "=========================================="
echo " Robot AGV 全量启动 v4.0"
echo "=========================================="
@@ -56,16 +73,16 @@ sleep 2
# 【关键】清理 FastRTPS 共享内存文件（杀进程后立即清理）
echo " 清理 FastRTPS 共享内存文件..."
FASTRTPS_COUNT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
if [ "$FASTRTPS_COUNT" -gt 0 ]; then
rm -rf /dev/shm/fastrtps_*
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
echo " 已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
else
echo " 无 FastRTPS 文件残留"
fi
# 清理 scan_fixer 锁文件
rm -f /tmp/scan_fixer.lock
rm -f "$LOCK_DIR/scan_fixer.lock"
# 【关键】验证进程已全部停止
echo " 验证进程停止..."
@@ -86,19 +103,19 @@ echo " ✅ 清理完成"
# ---------- 2. 启动 ros2 daemon ----------
echo "[2/8] 启动 ros2 daemon..."
source /opt/ros/humble/setup.bash 2>/dev/null || true
source "$ROS_SETUP" 2>/dev/null || true
# 再次确保没有残留共享内存（启动 daemon 前）
rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
# 使用 bash -c 确保环境变量正确传递
nohup bash -c "source /opt/ros/humble/setup.bash && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
nohup bash -c "source \"$ROS_SETUP\" && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
sleep 4
# 验证 daemon 是否就绪（用简单的 topic list 测试）
DAEMON_OK=0
for i in $(seq 1 5); do
DAEMON_TOPICS=$(source /opt/ros/humble/setup.bash && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1 | wc -l || echo 0)
DAEMON_TOPICS=$(source "$ROS_SETUP" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1 | wc -l || echo 0)
if [ "$DAEMON_TOPICS" -gt 0 ]; then
DAEMON_OK=1
echo " ✅ ros2 daemon 就绪"
@@ -112,15 +129,15 @@ fi
# ---------- 3. 启动 bringup (含激光雷达) ----------
echo "[3/8] 启动 AGV Bringup..."
source /opt/ros/humble/setup.bash 2>/dev/null || true
source "$ROS_SETUP" 2>/dev/null || true
# 【关键】启动前最后确认没有残留共享内存
rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source install/setup.bash
source "$ROS_WORKSPACE_SETUP"
nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller" > /tmp/ros2_bringup.log 2>&1 &
nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" > "$BRINGUP_LOG" 2>&1 &
BRINGUP_PID=$!
echo " bringup PID: $BRINGUP_PID"
@@ -136,15 +153,15 @@ for i in $(seq 1 20); do
done
if [ "$BRINGUP_OK" -eq 0 ]; then
echo " ⚠️ bringup 未检测到 /odom，继续启动后续组件..."
tail -5 /tmp/ros2_bringup.log 2>/dev/null || true
tail -5 "$BRINGUP_LOG" 2>/dev/null || true
fi
# ---------- 3.5 启动系统时钟发布器 ----------
echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
nohup bash -c "source /opt/ros/humble/setup.bash && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/clock_publisher.py" \
> /tmp/clock_publisher.log 2>&1 &
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
> "$CLOCK_LOG" 2>&1 &
CLOCK_PID=$!
echo " clock_publisher PID: $CLOCK_PID"
sleep 2
@@ -154,7 +171,7 @@ if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/cloc
echo " ✅ /clock 已上线"
else
echo " ⚠️ /clock 未上线，检查日志："
tail -5 /tmp/clock_publisher.log 2>/dev/null || true
tail -5 "$CLOCK_LOG" 2>/dev/null || true
fi
# ---------- 4. 启动激光时间戳修正节点 ----------
@@ -174,9 +191,9 @@ if [ "$SCAN_OK" -eq 0 ]; then
echo " ⚠️ /scan 未上线，检查 bringup 日志"
fi
nohup bash -c "source /opt/ros/humble/setup.bash && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
> /tmp/scan_fixer.log 2>&1 &
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
> "$SCAN_FIXER_LOG" 2>&1 &
FIXER_PID=$!
echo " fix_scan_timestamp PID: $FIXER_PID"
sleep 5
@@ -186,12 +203,12 @@ FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
if [ "$FIXER_COUNT" -gt 1 ]; then
echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
pkill -f "fix_scan_timestamp" 2>/dev/null || true
pkill -f "clock_publisher" 2>/dev/null || true
pkill -f "clock_publisher" 2>/dev/null || true
sleep 2
rm -f /tmp/scan_fixer.lock
nohup bash -c "source /opt/ros/humble/setup.bash && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
> /tmp/scan_fixer.log 2>&1 &
rm -f "$LOCK_DIR/scan_fixer.lock"
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
> "$SCAN_FIXER_LOG" 2>&1 &
FIXER_PID=$!
sleep 3
fi
@@ -200,20 +217,20 @@ if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan
echo " ✅ /scan_corrected 已上线"
else
echo " ⚠️ /scan_corrected 未上线，检查日志："
tail -5 /tmp/scan_fixer.log 2>/dev/null || true
tail -5 "$SCAN_FIXER_LOG" 2>/dev/null || true
fi
# ---------- 5. 启动 Nav2 ----------
echo "[5/8] 启动 Nav2 导航..."
source /opt/ros/humble/setup.bash 2>/dev/null || true
source "$ROS_SETUP" 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source install/setup.bash
source "$ROS_WORKSPACE_SETUP"
nohup bash -c "source /opt/ros/humble/setup.bash && \
source /home/elephant/agv_pro_ros2/install/setup.bash && \
nohup bash -c "source \"$ROS_SETUP\" && \
source \"$ROS_WORKSPACE_SETUP\" && \
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
autostart:=True" > /tmp/ros2_nav2.log 2>&1 &
autostart:=True" > "$NAV2_LOG" 2>&1 &
NAV2_PID=$!
echo " Nav2 PID: $NAV2_PID"
sleep 12
@@ -237,9 +254,9 @@ fi
# ---------- 6. 设置精度参数 ----------
echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
source /opt/ros/humble/setup.bash 2>/dev/null || true
source "$ROS_SETUP" 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source install/setup.bash
source "$ROS_WORKSPACE_SETUP"
for NODE in /controller_server /bt_navigator /planner_server; do
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
@@ -252,9 +269,9 @@ echo " ✅ 精度参数已设置"
# ---------- 7. 启动 Flask ----------
echo "[7/8] 启动 Flask API..."
export ROS_DOMAIN_ID=1
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL
cd "$AGV_APP_DIR"
nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
FLASK_PID=$!
echo " Flask PID: $FLASK_PID"
sleep 4
@@ -268,13 +285,13 @@ echo "=========================================="
# 8a. 验证 ros2 topic list（核心指标）
echo ""
echo "验证 ros2 topic list..."
TOPIC_COUNT=$(source /opt/ros/humble/setup.bash && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null | wc -l || echo 0)
TOPIC_COUNT=$(source "$ROS_SETUP" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null | wc -l || echo 0)
echo " 话题数量: $TOPIC_COUNT"
if [ "$TOPIC_COUNT" -gt 10 ]; then
echo " ✅ ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
else
echo " ❌ ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
echo " 手动执行: rm -rf /dev/shm/fastrtps_* && ros2 daemon stop && ros2 daemon start"
echo " 手动执行: rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_* && ros2 daemon stop && ros2 daemon start"
fi
# 8b. 验证关键话题
@@ -304,7 +321,7 @@ fi
# 8d. FastRTPS 共享内存状态
echo ""
echo "FastRTPS 共享内存状态:"
FASTRTPS_NEW=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
FASTRTPS_NEW=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
echo " 当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
# 8e. Flask API 测试
@@ -332,12 +349,12 @@ for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$F
done
echo ""
echo " 日志文件:"
echo " bringup : /tmp/ros2_bringup.log"
echo " Nav2 : /tmp/ros2_nav2.log"
echo " fixer : /tmp/scan_fixer.log"
echo " Flask : /tmp/agv_flask.log"
echo " bringup : $BRINGUP_LOG"
echo " Nav2 : $NAV2_LOG"
echo " fixer : $SCAN_FIXER_LOG"
echo " Flask : $FLASK_LOG"
echo ""
echo " 如果仍有问题，请依次执行："
echo " 1. ./stop_all.sh"
echo " 2. rm -rf /dev/shm/fastrtps_*"
echo " 3. ./start_all.sh"
echo " 1. ./scripts/stop_all.sh"
echo " 2. rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
echo " 3. ./scripts/start_all.sh"