start_all.sh: 完整重写，确保一键启动所有服务
- 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
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ywb
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#!/bin/bash
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#!/bin/bash
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# AGV 拍摄系统完整启动脚本 - ROS2 + Flask
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# ============================================================
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# 使用方法: ./start_all.sh
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# Robot AGV 全量启动脚本
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# 完整流程：清理旧进程 -> 启动 bringup -> 启动 Nav2 -> 激活 Lifecycle -> 启动 Flask
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# ============================================================
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set -e
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echo "=== 停止旧进程 ==="
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LOG_DIR="/home/elephant/work/agv_app"
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pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null
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cd "$LOG_DIR"
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pkill -f "python.*app.py" 2>/dev/null
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sleep 2
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echo "=== 启动 ROS2 Bringup ==="
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echo "=========================================="
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# Source ROS2 环境
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echo " Robot AGV 全量启动"
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echo "=========================================="
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echo ""
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# ---------- 1. 清理旧进程 ----------
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echo "[1/6] 清理旧进程..."
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pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
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pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
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pkill -f "agv_pro_node" 2>/dev/null || true
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pkill -f "lslidar_driver_node" 2>/dev/null || true
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pkill -f "python.*app.py" 2>/dev/null || true
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pkill -f "ros2-daemon" 2>/dev/null || true
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sleep 4
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echo " 清理完成"
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# ---------- 2. 重启 ros2 daemon ----------
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echo "[2/6] 重启 ros2 daemon..."
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source /opt/ros/humble/setup.bash
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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ros2 daemon stop 2>/dev/null || true
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source install/setup.bash
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sleep 2
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nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" &>/dev/null &
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# 启动 ROS2 bringup (后台运行)
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nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
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ROS2_PID=$!
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echo "ROS2 bringup started, PID: $ROS2_PID"
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# 等待 ROS2 初始化 (AGV节点需要连接串口)
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echo "等待 ROS2 初始化..."
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sleep 5
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sleep 5
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# 检查 ROS2 节点是否启动
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# 检查 daemon 是否正常
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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
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if ! bash -c "source /opt/ros/humble/setup.bash && ros2 node list &>/dev/null"; then
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echo "✅ ROS2 AGV 节点已启动"
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echo " ⚠️ ros2 daemon 重启失败，尝试强制重启..."
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else
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pkill -f "ros2-daemon" 2>/dev/null || true
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echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
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sleep 2
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nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" &>/dev/null &
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sleep 5
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fi
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fi
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echo " ros2 daemon 已就绪"
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echo "=== 启动 Nav2 导航 ==="
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# ---------- 3. 启动 bringup ----------
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echo "[3/6] 启动 AGV Bringup (agv_pro + 激光雷达)..."
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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source install/setup.bash
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nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py \
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port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
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BRINGUP_PID=$!
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echo " bringup PID: $BRINGUP_PID"
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# 等待 bringup 就绪（检查 /odom 话题出现）
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echo " 等待 bringup 就绪..."
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for i in $(seq 1 15); do
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if bash -c "source /opt/ros/humble/setup.bash && source install/setup.bash && ros2 topic list 2>/dev/null | grep -q '/odom'"; then
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echo " ✅ bringup 已就绪 (/odom 话题已上线)"
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break
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fi
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sleep 2
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done
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# ---------- 4. 启动 Nav2 ----------
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echo "[4/6] 启动 Nav2 导航..."
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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source install/setup.bash
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nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
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autostart:=True > /tmp/ros2_nav2.log 2>&1 &
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NAV2_PID=$!
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echo " Nav2 PID: $NAV2_PID"
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sleep 12
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# ---------- 5. 等待并激活 Nav2 Lifecycle ----------
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echo "[5/6] 等待 Nav2 Lifecycle Manager 就绪..."
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source /opt/ros/humble/setup.bash
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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cd /home/elephant/agv_pro_ros2
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source install/setup.bash
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source install/setup.bash
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# 启动 Nav2 (后台运行)
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for i in $(seq 1 10); do
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nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_nav2.log 2>&1 &
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NODES=$(ros2 node list 2>/dev/null | grep -c "lifecycle_manager_navigation\|bt_navigator\|controller_server" || echo 0)
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NAV2_PID=$!
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echo " 检查 ($i/10): $NODES 个 Nav2 节点已启动"
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echo "Nav2 started, PID: $NAV2_PID"
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if [ "$NODES" -ge 3 ]; then
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echo " ✅ Nav2 节点已就绪"
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break
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fi
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sleep 3
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done
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sleep 10
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# 检查是否已 Active（autostart=True 应该自动激活）
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echo "=== 激活 Nav2 Lifecycle ==="
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echo " 检查 Lifecycle 状态..."
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ros2 lifecycle set /lifecycle_manager_navigation configure 2>&1 | tee -a /tmp/start_all.log
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LIFECYCLE_STATE=$(ros2 lifecycle list /lifecycle_manager_navigation 2>/dev/null | grep "Active\|Inactive" | head -1 || echo "")
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sleep 3
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if echo "$LIFECYCLE_STATE" | grep -q "Active"; then
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ros2 lifecycle set /lifecycle_manager_navigation activate 2>&1 | tee -a /tmp/start_all.log
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echo " ✅ Nav2 Lifecycle 已激活 (autostart=True 生效)"
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sleep 3
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else
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echo "✅ Nav2 导航已启动并激活"
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echo " ⚠️ Lifecycle 未激活，手动 configure + activate..."
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ros2 lifecycle set /lifecycle_manager_navigation configure 2>/dev/null || true
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sleep 3
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ros2 lifecycle set /lifecycle_manager_navigation activate 2>/dev/null || true
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sleep 3
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LIFECYCLE_STATE=$(ros2 lifecycle list /lifecycle_manager_navigation 2>/dev/null | grep "Active\|Inactive" | head -1 || echo "")
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if echo "$LIFECYCLE_STATE" | grep -q "Active"; then
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echo " ✅ Lifecycle 手动激活成功"
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else
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echo " ⚠️ Lifecycle 仍无法激活，继续（Nav2 action 可能仍可用）"
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fi
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fi
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echo "=== 启动 Flask ==="
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# ---------- 6. 启动 Flask ----------
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echo "[6/6] 启动 Flask API 服务..."
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cd /home/elephant/work/agv_app
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cd /home/elephant/work/agv_app
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nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
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nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
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FLASK_PID=$!
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FLASK_PID=$!
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echo "Flask started, PID: $FLASK_PID"
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echo " Flask PID: $FLASK_PID"
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sleep 4
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sleep 2
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# ---------- 完成 ----------
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echo ""
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echo ""
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echo "=== 启动完成 ==="
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echo "=========================================="
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echo "ROS2 bringup log: /tmp/ros2_bringup.log"
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echo " ✅ 启动完成"
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echo "Nav2 log: /tmp/ros2_nav2.log"
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echo "=========================================="
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echo "Flask log: /tmp/agv_flask.log"
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echo ""
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echo ""
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echo "检查状态:"
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echo " 进程状态:"
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echo " ros2 node list"
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echo " bringup : $(ps aux | grep -w "$BRINGUP_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
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echo " Nav2 : $(ps aux | grep -w "$NAV2_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
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echo " Flask : $(ps aux | grep -w "$FLASK_PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
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echo ""
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echo " 日志文件:"
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echo " bringup : /tmp/ros2_bringup.log"
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echo " Nav2 : /tmp/ros2_nav2.log"
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echo " Flask : /tmp/agv_flask.log"
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echo ""
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echo " API 地址: http://localhost:5000"
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echo ""
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echo " 常用检查命令:"
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echo " curl http://localhost:5000/api/status"
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echo " curl http://localhost:5000/api/status"
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echo " curl http://localhost:5000/api/navigate/status"
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echo " curl -X POST http://localhost:5000/api/mission/init_pose"
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echo " curl -X POST http://localhost:5000/api/device/connect -H 'Content-Type: application/json' -d '{\"device\":\"agv\"}'"
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echo " curl -X POST http://localhost:5000/api/navigate/to -H 'Content-Type: application/json' -d '{\"x\":-0.249,\"y\":-0.957}'"
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echo ""
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