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/mission_executor.py

@@ -18,7 +18,7 @@ from .image_uploader import ImageUploader
 logger = logging.getLogger(__name__)
 
 # ROS2 环境设置（与 agv_controller_ros2.py 保持一致）
-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 ~/agv_pro_ros2/install/setup.bash"
 
 
 class TaskStatus(Enum):