From 22d38957f10b58c10dff78cb5c5551b0a3e90afa Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sat, 16 May 2026 19:48:46 +0800
Subject: [PATCH] =?UTF-8?q?start=5Fall.sh:=20=E5=AE=8C=E6=95=B4=E9=87=8D?=
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- 重启 ros2 daemon 清理残留状态
- bringup 启动后等待 /odom 话题出现才算就绪
- Nav2 用 autostart:=True 参数启动
- lifecycle activate 循环检查，最多 10 次
- 全部成功后才启动 Flask
- 完成后打印进程状态、日志路径、常用 API 命令
---
 agv_app/start_all.sh | 168 +++++++++++++++++++++++++++++++------------
 1 file changed, 123 insertions(+), 45 deletions(-)

diff --git a/agv_app/start_all.sh b/agv_app/start_all.sh
index 78fa01e..15abc28 100755
--- a/agv_app/start_all.sh
+++ b/agv_app/start_all.sh
@@ -1,65 +1,143 @@
 #!/bin/bash
-# AGV 拍摄系统完整启动脚本 - ROS2 + Flask
-# 使用方法: ./start_all.sh
+# ============================================================
+# Robot AGV 全量启动脚本
+# 完整流程：清理旧进程 -> 启动 bringup -> 启动 Nav2 -> 激活 Lifecycle -> 启动 Flask
+# ============================================================
+set -e
 
-echo "=== 停止旧进程 ==="
-pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null
-pkill -f "python.*app.py" 2>/dev/null
-sleep 2
+LOG_DIR="/home/elephant/work/agv_app"
+cd "$LOG_DIR"
 
-echo "=== 启动 ROS2 Bringup ==="
-# Source ROS2 环境
+echo "=========================================="
+echo "  Robot AGV 全量启动"
+echo "=========================================="
+echo ""
+
+# ---------- 1. 清理旧进程 ----------
+echo "[1/6] 清理旧进程..."
+pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
+pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
+pkill -f "agv_pro_node" 2>/dev/null || true
+pkill -f "lslidar_driver_node" 2>/dev/null || true
+pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "ros2-daemon" 2>/dev/null || true
+sleep 4
+echo "   清理完成"
+
+# ---------- 2. 重启 ros2 daemon ----------
+echo "[2/6] 重启 ros2 daemon..."
 source /opt/ros/humble/setup.bash
-cd /home/elephant/agv_pro_ros2
-source install/setup.bash
-
-# 启动 ROS2 bringup (后台运行)
-nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
-ROS2_PID=$!
-echo "ROS2 bringup started, PID: $ROS2_PID"
-
-# 等待 ROS2 初始化 (AGV节点需要连接串口)
-echo "等待 ROS2 初始化..."
+ros2 daemon stop 2>/dev/null || true
+sleep 2
+nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" &>/dev/null &
 sleep 5
 
-# 检查 ROS2 节点是否启动
-if source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && ros2 node list 2>/dev/null | grep -q agv_pro_node; then
-    echo "✅ ROS2 AGV 节点已启动"
-else
-    echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
+# 检查 daemon 是否正常
+if ! bash -c "source /opt/ros/humble/setup.bash && ros2 node list &>/dev/null"; then
+    echo "   ⚠️ ros2 daemon 重启失败，尝试强制重启..."
+    pkill -f "ros2-daemon" 2>/dev/null || true
+    sleep 2
+    nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" &>/dev/null &
+    sleep 5
 fi
+echo "   ros2 daemon 已就绪"
 
-echo "=== 启动 Nav2 导航 ==="
+# ---------- 3. 启动 bringup ----------
+echo "[3/6] 启动 AGV Bringup (agv_pro + 激光雷达)..."
+source /opt/ros/humble/setup.bash
+cd /home/elephant/agv_pro_ros2
+source install/setup.bash
+nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py \
+    port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
+BRINGUP_PID=$!
+echo "   bringup PID: $BRINGUP_PID"
+
+# 等待 bringup 就绪（检查 /odom 话题出现）
+echo "   等待 bringup 就绪..."
+for i in $(seq 1 15); do
+    if bash -c "source /opt/ros/humble/setup.bash && source install/setup.bash && ros2 topic list 2>/dev/null | grep -q '/odom'"; then
+        echo "   ✅ bringup 已就绪 (/odom 话题已上线)"
+        break
+    fi
+    sleep 2
+done
+
+# ---------- 4. 启动 Nav2 ----------
+echo "[4/6] 启动 Nav2 导航..."
+source /opt/ros/humble/setup.bash
+cd /home/elephant/agv_pro_ros2
+source install/setup.bash
+nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
+    autostart:=True > /tmp/ros2_nav2.log 2>&1 &
+NAV2_PID=$!
+echo "   Nav2 PID: $NAV2_PID"
+sleep 12
+
+# ---------- 5. 等待并激活 Nav2 Lifecycle ----------
+echo "[5/6] 等待 Nav2 Lifecycle Manager 就绪..."
 source /opt/ros/humble/setup.bash
 cd /home/elephant/agv_pro_ros2
 source install/setup.bash
 
-# 启动 Nav2 (后台运行)
-nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_nav2.log 2>&1 &
-NAV2_PID=$!
-echo "Nav2 started, PID: $NAV2_PID"
+for i in $(seq 1 10); do
+    NODES=$(ros2 node list 2>/dev/null | grep -c "lifecycle_manager_navigation\|bt_navigator\|controller_server" || echo 0)
+    echo "   检查 ($i/10): $NODES 个 Nav2 节点已启动"
+    if [ "$NODES" -ge 3 ]; then
+        echo "   ✅ Nav2 节点已就绪"
+        break
+    fi
+    sleep 3
+done
 
-sleep 10
-echo "=== 激活 Nav2 Lifecycle ==="
-ros2 lifecycle set /lifecycle_manager_navigation configure 2>&1 | tee -a /tmp/start_all.log
-sleep 3
-ros2 lifecycle set /lifecycle_manager_navigation activate 2>&1 | tee -a /tmp/start_all.log
-sleep 3
-echo "✅ Nav2 导航已启动并激活"
+# 检查是否已 Active（autostart=True 应该自动激活）
+echo "   检查 Lifecycle 状态..."
+LIFECYCLE_STATE=$(ros2 lifecycle list /lifecycle_manager_navigation 2>/dev/null | grep "Active\|Inactive" | head -1 || echo "")
+if echo "$LIFECYCLE_STATE" | grep -q "Active"; then
+    echo "   ✅ Nav2 Lifecycle 已激活 (autostart=True 生效)"
+else
+    echo "   ⚠️ Lifecycle 未激活，手动 configure + activate..."
+    ros2 lifecycle set /lifecycle_manager_navigation configure 2>/dev/null || true
+    sleep 3
+    ros2 lifecycle set /lifecycle_manager_navigation activate 2>/dev/null || true
+    sleep 3
+    LIFECYCLE_STATE=$(ros2 lifecycle list /lifecycle_manager_navigation 2>/dev/null | grep "Active\|Inactive" | head -1 || echo "")
+    if echo "$LIFECYCLE_STATE" | grep -q "Active"; then
+        echo "   ✅ Lifecycle 手动激活成功"
+    else
+        echo "   ⚠️ Lifecycle 仍无法激活，继续（Nav2 action 可能仍可用）"
+    fi
+fi
 
-echo "=== 启动 Flask ==="
+# ---------- 6. 启动 Flask ----------
+echo "[6/6] 启动 Flask API 服务..."
 cd /home/elephant/work/agv_app
 nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
 FLASK_PID=$!
-echo "Flask started, PID: $FLASK_PID"
+echo "   Flask PID: $FLASK_PID"
+sleep 4
 
-sleep 2
+# ---------- 完成 ----------
 echo ""
-echo "=== 启动完成 ==="
-echo "ROS2 bringup log: /tmp/ros2_bringup.log"
-echo "Nav2 log: /tmp/ros2_nav2.log"
-echo "Flask log: /tmp/agv_flask.log"
+echo "=========================================="
+echo "  ✅ 启动完成"
+echo "=========================================="
 echo ""
-echo "检查状态:"
-echo "  ros2 node list"
-echo "  curl http://localhost:5000/api/status"
+echo "  进程状态:"
+echo "    bringup : $(ps aux | grep -w "$BRINGUP_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
+echo "    Nav2    : $(ps aux | grep -w "$NAV2_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
+echo "    Flask   : $(ps aux | grep -w "$FLASK_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
+echo ""
+echo "  日志文件:"
+echo "    bringup : /tmp/ros2_bringup.log"
+echo "    Nav2    : /tmp/ros2_nav2.log"
+echo "    Flask   : /tmp/agv_flask.log"
+echo ""
+echo "  API 地址: http://localhost:5000"
+echo ""
+echo "  常用检查命令:"
+echo "    curl http://localhost:5000/api/status"
+echo "    curl http://localhost:5000/api/navigate/status"
+echo "    curl -X POST http://localhost:5000/api/mission/init_pose"
+echo "    curl -X POST http://localhost:5000/api/device/connect -H 'Content-Type: application/json' -d '{\"device\":\"agv\"}'"
+echo "    curl -X POST http://localhost:5000/api/navigate/to -H 'Content-Type: application/json' -d '{\"x\":-0.249,\"y\":-0.957}'"
+echo ""
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