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/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 /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
+ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source /home/elephant/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 'export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && {cmd}'"
+        full_cmd = f"bash -l -c 'source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && {cmd}'"
         try:
             result = subprocess.run(
                 full_cmd,