Nav2导航 heredoc pipe方式修复 + 重启脚本更新

nav2_navigator.py: 改用 subprocess.Popen + stdin heredoc 避免bash单引号转义
restart_agv.sh: 清理所有旧进程再重启（bringup → Nav2 → Flask）
app.py: init_pose改用 heredoc 子进程脚本方式

agv_app/app.py

@@ -648,7 +648,7 @@ def api_mission_init_pose():
         script = "/tmp/ros2_init_pose.sh"
         lines = [
             "#!/bin/bash",
-            "export ROS_DOMAIN_ID=1",
+            "export ROS_DOMAIN_ID=0",
             "source /opt/ros/humble/setup.bash",
             "source ~/agv_pro_ros2/install/setup.bash",
             "python3 /tmp/publish_init_pose.py",
@@ -659,7 +659,7 @@ def api_mission_init_pose():
         result = subprocess.run(
             [script],
             capture_output=True, text=True, timeout=12,
-            env={**os.environ, "ROS_DOMAIN_ID": "1"}
+            env={**os.environ, "ROS_DOMAIN_ID": "0"}
         )
         logger.info(f"init_pose: rc={result.returncode}")
         return jsonify({"ok": True, "message": "初始位置已设为 (0,0,0)"})