Rename customs-tablet-frontend to public-frontend and add new features

- 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>

scripts/stop_all.sh

@@ -7,6 +7,11 @@
 # ============================================================
 set -e
 
+ROS_DISTRO="${ROS_DISTRO:-humble}"
+ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
+LOCK_DIR="${LOCK_DIR:-/tmp}"
+FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
+
 echo "=========================================="
 echo "  Robot AGV 全量停止"
 echo "=========================================="
@@ -40,17 +45,17 @@ sleep 1
 
 # ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
 echo "[3/5] 清理 FastRTPS 共享内存..."
-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 /tmp/clock_publisher.lock
+rm -f "$LOCK_DIR/scan_fixer.lock"
+rm -f "$LOCK_DIR/clock_publisher.lock"
 echo "   ✅ FastRTPS 清理完成"
 
 # ---------- 4. 【关键】重置 ros2 daemon ----------
@@ -58,14 +63,14 @@ echo "[4/5] 重置 ros2 daemon..."
 pkill -f "ros2-daemon" 2>/dev/null || true
 pkill -9 -f "ros2-daemon" 2>/dev/null || true
 sleep 2
-source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$ROS_SETUP" 2>/dev/null || true
 ros2 daemon stop 2>/dev/null || true
 echo "   ✅ ros2 daemon 已重置"
 
 # ---------- 5. 验证清理结果 ----------
 echo "[5/5] 验证清理结果..."
 PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
-FASTRTPS_LEFT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+FASTRTPS_LEFT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
 
 echo "   残留进程数: $PROC_COUNT"
 echo "   FastRTPS 文件数: $FASTRTPS_LEFT"
@@ -85,7 +90,7 @@ else
     echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
     echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
     echo "    pkill -9 -f 'ros2-daemon'"
-    echo "    rm -rf /dev/shm/fastrtps_*"
+    echo "    rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
 fi
 echo ""
 echo "  现在可以安全运行 ./start_all.sh"