diff --git a/agv_app/utils/agv_controller_ros2.py b/agv_app/utils/agv_controller_ros2.py
index e2ea2c4..82e2899 100644
--- a/agv_app/utils/agv_controller_ros2.py
+++ b/agv_app/utils/agv_controller_ros2.py
@@ -12,7 +12,7 @@ from typing import Tuple, Optional, List
 logger = logging.getLogger(__name__)
 
 # ROS2 环境设置
-ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source ~/agv_pro_ros2/install/setup.bash"
+ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
 
 
 class AGVController:
@@ -28,7 +28,7 @@ class AGVController:
 
     def _run_ros2_cmd(self, cmd: str, timeout: float = 5.0) -> tuple:
         """执行 ros2 命令"""
-        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
+        full_cmd = f"bash -c 'export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && {cmd}'"
         try:
             result = subprocess.run(
                 full_cmd,
@@ -64,7 +64,7 @@ class AGVController:
 
             # 尝试获取一次位置数据
             rc, out, err = self._run_ros2_cmd(
-                "timeout 5 ros2 topic echo /odom 2>timeout 10 ros2 topic echo /odom --once 2>/dev/null1 | head -1",
+                "timeout 5 ros2 topic echo /odom --once 2>/dev/null",
                 timeout=6
             )
 
@@ -89,23 +89,10 @@ class AGVController:
 
     def _publish_cmd_vel(self, linear_x: float = 0.0, linear_y: float = 0.0, angular_z: float = 0.0):
         """发布速度命令到 /cmd_vel"""
-        # 直接执行，避免引号嵌套问题
         msg = f'{{"linear": {{"x": {linear_x}, "y": {linear_y}, "z": 0.0}}, "angular": {{"x": 0.0, "y": 0.0, "z": {angular_z}}}}}'
-        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \"{msg}\" --once'"
-        try:
-            result = subprocess.run(
-                full_cmd,
-                shell=True,
-                capture_output=True,
-                text=True,
-                timeout=5
-            )
-            if result.returncode != 0:
-                logger.warning(f"发布 cmd_vel 失败: {result.stderr.strip()}")
-        except subprocess.TimeoutExpired:
-            logger.warning("发布 cmd_vel 超时")
-        except Exception as e:
-            logger.warning(f"发布 cmd_vel 失败: {e}")
+        rc, out, err = self._run_ros2_cmd(f'ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{msg}" --once')
+        if rc != 0:
+            logger.warning(f"发布 cmd_vel 失败: {err}")
 
     def move_forward(self, speed: float = 0.5, duration: float = None):
         """前进"""
@@ -173,14 +160,19 @@ class AGVController:
         try:
             # 从 /odom topic 获取位置
             rc, out, err = self._run_ros2_cmd(
-                "timeout 5 ros2 topic echo /odom 2>timeout 10 ros2 topic echo /odom --once 2>/dev/null1 | head -1",
+                "timeout 5 ros2 topic echo /odom --once 2>/dev/null",
                 timeout=6
             )
             if rc == 0 and out:
                 # 解析 odom 消息 (YAML 格式)
                 # ros2 topic echo 输出可能含多个 --- 分隔的文档，只取第一个
-                import yaml
-                yaml_str = out.split('---')[0]
+                # 注意：RTPS 错误信息混在 stderr 通过管道进入 stdout，需要去掉
+                import re, yaml
+                # 去掉 ANSI 转义序列
+                clean = re.sub(r'\x1b\[[0-9;]*[a-zA-Z]', '', out)
+                # 去掉时间戳前缀行（形如 "2026-05-15 23:39:38.824 [RTPS_TRANSPORT_SHM Error] ..."）
+                yaml_str = re.sub(r'^[\d\-:. ]+\[RTPS[^\]]*\].*\n?', '', clean, flags=re.MULTILINE).strip()
+                yaml_str = yaml_str.split('---')[0]
                 data = yaml.safe_load(yaml_str)
                 if data:
                     pos = data.get("pose", {}).get("pose", {}).get("position", {})
@@ -209,13 +201,14 @@ class AGVController:
         try:
             # 从 /voltage topic 获取电压
             rc, out, err = self._run_ros2_cmd(
-                "timeout 5 ros2 topic echo /voltage 2>timeout 10 ros2 topic echo /voltage --once 2>/dev/null1 | head -1",
+                "timeout 5 ros2 topic echo /voltage --once 2>/dev/null",
                 timeout=6
             )
             if rc == 0 and out:
                 # 解析电压消息（ros2 topic echo 可能输出多文档 YAML）
-                import yaml
-                yaml_str = out.split('---')[0]
+                import re, yaml
+                clean = re.sub(r'\x1b\[[0-9;]*[a-zA-Z]', '', out)
+                yaml_str = clean.split('---')[0].strip()
                 data = yaml.safe_load(yaml_str)
                 if data:
                     self._voltage = data.get("data", 0.0)