Refactor ROS startup scripts

docs/AGV_机械臂_技术说明文档.md

@@ -766,7 +766,7 @@ sudo systemctl start arm_server
 # === AGV 端 ===
 # 2. 完整启动 ROS2 导航栈 + Flask
 cd ~/work/smart-inspection
-./scripts/start_all.sh
+./scripts/prod-backend.sh
 ```
 
 ### 9.3 部署命令
@@ -779,8 +779,8 @@ uv sync --locked
 # 部署后验证远程文件
 ssh elephant@192.168.60.80 "grep 'def _lookup_model' /home/elephant/work/smart-inspection/agv_app/utils/mission_executor.py"
 
-# 重启 Flask
+# 重启生产后端
-ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
+ssh elephant@192.168.60.80 'cd ~/work/smart-inspection && ./scripts/prod-backend.sh'
 
 # 清空 Python 缓存（关键！修改后必须清）
 ssh elephant@192.168.60.80 "find /home/elephant/work/smart-inspection/agv_app -name '*.pyc' -delete; find /home/elephant/work/smart-inspection/agv_app -name '__pycache__' -type d -exec rm -rf {} +"
@@ -864,7 +864,7 @@ agv_app/
 ```
 
 启动脚本位于仓库顶层 `scripts/`。LiDAR 时间戳修复脚本部署在 AGV 的
-`/home/elephant/work/scan_fixer/`，由 `scripts/start_all.sh` 调用。
+`/home/elephant/work/smart-inspection/scan_fixer/`，由 `scripts/prod-backend.sh` 调用。
 
 ## 附录 B：关键依赖
 

scripts/README.md

@@ -4,11 +4,11 @@
 
 ```
 scripts/
-├── start_all.sh          ← 生产环境完整启动（ROS2 + Nav2 + Flask）
+├── prod-backend.sh       ← 生产环境完整启动（ROS2 + Nav2 + Flask）
 ├── stop_all.sh           ← 生产环境完整停止
-├── start_flask.sh        ← 仅重启 Flask（修改代码后快速部署）
+├── dev-backend.sh        ← 本地后端开发启动（Mock 硬件模式）
-├── restart_flask.sh      ← 语法检查 + 清缓存 + 重启 Flask + 验证
+├── dev-frontend.sh       ← 本地前端开发启动
-└── dev_start.sh          ← 本地开发用（前台运行，不启动 ROS2）
+└── stop.sh               ← 停止本地开发服务
 ```
 
 `scan_fixer/` 是生产启动链路的一部分：`clock_publisher.py` 发布 `/clock`，
@@ -42,25 +42,25 @@ sudo apt install -y ffmpeg libzbar0
 # 在 AGV 上执行
 cd ~/work/smart-inspection
 ./scripts/stop_all.sh    # 先彻底清理
-./scripts/start_all.sh   # 完整启动
+./scripts/prod-backend.sh # 完整启动
 ```
 
-### 2. 修改代码后快速部署
+### 2. 修改代码后重新启动生产后端
 ```bash
 # 部署文件到 AGV 后
-ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
+ssh elephant@192.168.60.80 'cd ~/work/smart-inspection && ./scripts/prod-backend.sh'
 ```
 
 ### 3. 本地开发调试（不连硬件）
 ```bash
-# 在本机执行，仅启动 Flask
+# 在本机执行，仅启动 Mock 后端
-./scripts/dev_start.sh
+./scripts/dev-backend.sh
 # 访问 http://127.0.0.1:5000
 ```
 
-### 4. 远程轻量重启（ROS2 已运行）
+### 4. 本地前端开发
 ```bash
-ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
+./scripts/dev-frontend.sh
 ```
 
 ## 环境变量
@@ -72,8 +72,13 @@ ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
 | `AGV_PROJECT_DIR` | `/home/elephant/work/smart-inspection` | 仓库根目录 |
 | `AGV_APP_DIR` | `$AGV_PROJECT_DIR/agv_app` | Flask 应用目录 |
 | `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
+| `ROS_SETUP` | `/opt/ros/humble/setup.bash` | ROS2 环境脚本 |
+| `ROS_WORKSPACE_SETUP` | `$AGV_ROS2_DIR/install/setup.bash` | ROS2 工作空间环境脚本 |
 | `SCAN_FIXER_DIR` | `$AGV_PROJECT_DIR/scan_fixer` | 时间戳修正工具目录 |
-| `FIXER_SCRIPT` | `fix_scan_timestamp_v6.py` | fixer 脚本名 |
+| `LOG_DIR` | `/tmp` | 日志目录 |
+| `FASTRTPS_SHM_DIR` | `/dev/shm` | FastRTPS 共享内存目录 |
+| `AGV_CONTROLLER_DEVICE` | `/dev/agvpro_controller` | AGV 控制器设备 |
+| `ROS_DOMAIN_ID` | `1` | ROS2 通信域 ID |
 
 ## 日志位置（AGV 上）
 

scripts/prod-backend.sh

@@ -1,351 +1,233 @@
 #!/bin/bash
 # ============================================================
-# Robot AGV 全量启动脚本 v4.0
+# Robot AGV 全量启动脚本 v5.0
 # 修复：
+#   - v5.0: 使用公共库重构，减少代码重复
 #   - v4.0: 彻底杀死 ros2 daemon 进程 + 启动前进程数量检查
 #   - v3.0: 彻底清理 FastRTPS 共享内存文件（永久修复 DDS 通信问题）
 #   - v2.7: 添加 ROS_DOMAIN_ID 环境变量传递
 #   - v2.6: 清理 scan_fixer lock 文件防残留
 # ============================================================
-set -e
+set -euo pipefail
 
-# ---- 可配置项（环境变量覆盖默认值） ----
+# 加载公共库
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+source "$SCRIPT_DIR/ros-common.sh"
-AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$PROJECT_DIR}"
-AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
-AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
-ROS_DISTRO="${ROS_DISTRO:-humble}"
-ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
-ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
-SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
-FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
-LOG_DIR="${LOG_DIR:-/tmp}"
-LOCK_DIR="${LOCK_DIR:-/tmp}"
-FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
-AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
-ROS_DOMAIN_ID_VAL=1
 
-BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
+# ============================================================================
-NAV2_LOG="$LOG_DIR/ros2_nav2.log"
+# 主流程
-CLOCK_LOG="$LOG_DIR/clock_publisher.log"
+# ============================================================================
-SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
-FLASK_LOG="$LOG_DIR/agv_flask.log"
 
-mkdir -p "$LOG_DIR"
+section "Robot AGV 全量启动 v5.0"
 
-echo "=========================================="
+# ============================================================================
-echo "  Robot AGV 全量启动 v4.0"
+# 1. 清理旧环境
-echo "=========================================="
+# ============================================================================
-echo ""
+step "1/8" "清理旧进程和共享内存"
 
-# ---------- 1. 清理旧进程 + FastRTPS 共享内存 ----------
+kill_all_soft
-echo "[1/8] 清理旧进程和共享内存..."
+kill_all_hard
+stop_ros2_daemon
+cleanup_fastrtps
 
-# 杀掉所有相关进程（先软杀，再硬杀确保干净）
+# 验证进程已停止
-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 "component_container" 2>/dev/null || true
-pkill -f "robot_state_publisher" 2>/dev/null || true
-pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-pkill -f "python.*app.py" 2>/dev/null || true
-pkill -f "uv run .*python app.py" 2>/dev/null || true
-sleep 2
-
-# 【关键】硬杀确保干净
-echo "   硬杀残留进程..."
-pkill -9 -f "agv_pro_node" 2>/dev/null || true
-pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-pkill -9 -f "component_container" 2>/dev/null || true
-pkill -9 -f "clock_publisher" 2>/dev/null || true
-pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -9 -f "app.py" 2>/dev/null || true
-sleep 1
-
-# 【关键】杀死 ros2 daemon 进程本身（不是只 stop，而是杀进程）
-echo "   重置 ros2 daemon..."
-pkill -f "ros2-daemon" 2>/dev/null || true
-pkill -9 -f "ros2-daemon" 2>/dev/null || true
-sleep 2
-
-# 【关键】清理 FastRTPS 共享内存文件（杀进程后立即清理）
-echo "   清理 FastRTPS 共享内存文件..."
-FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
-if [ "$FASTRTPS_COUNT" -gt 0 ]; then
-    rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
-    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
-else
-    echo "   无 FastRTPS 文件残留"
-fi
-
-# 清理 scan_fixer 锁文件
-rm -f "$LOCK_DIR/scan_fixer.lock"
-
-# 【关键】验证进程已全部停止
 echo "   验证进程停止..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
+PROC_COUNT=$(count_residual_processes)
 echo "   残留进程数: $PROC_COUNT"
 if [ "$PROC_COUNT" -gt 0 ]; then
-    echo "   ⚠️ 仍有进程残留，强制终止..."
+    echo "   [WARN] 仍有进程残留，再次强制终止..."
-    pkill -9 -f "agv_pro_node" 2>/dev/null || true
+    kill_all_hard
-    pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
+    PROC_COUNT=$(count_residual_processes)
-    pkill -9 -f "component_container" 2>/dev/null || true
+    echo "   清理后残留: $PROC_COUNT"
-    pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-    pkill -9 -f "app.py" 2>/dev/null || true
-    sleep 2
-    PROC_COUNT2=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
-    echo "   清理后残留: $PROC_COUNT2"
 fi
-echo "   ✅ 清理完成"
+info "ok" "清理完成"
 
-# ---------- 2. 启动 ros2 daemon ----------
+# ============================================================================
-echo "[2/8] 启动 ros2 daemon..."
+# 2. 启动 ros2 daemon
+# ============================================================================
+step "2/8" "启动 ros2 daemon"
 source "$ROS_SETUP" 2>/dev/null || true
-
-# 再次确保没有残留共享内存（启动 daemon 前）
-rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
-
-# 使用 bash -c 确保环境变量正确传递
-nohup bash -c "source \"$ROS_SETUP\" && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
-sleep 4
-
-# 验证 daemon 是否就绪（用简单的 topic list 测试）
-DAEMON_OK=0
-for i in $(seq 1 5); do
-    DAEMON_TOPICS=$(bash -c "source \"$ROS_SETUP\" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1" | wc -l || echo 0)
-    if [ "$DAEMON_TOPICS" -gt 0 ]; then
-        DAEMON_OK=1
-        echo "   ✅ ros2 daemon 就绪"
-        break
-    fi
-    sleep 2
-done
-if [ "$DAEMON_OK" -eq 0 ]; then
-    echo "   ⚠️ ros2 daemon 可能有问题，继续尝试启动组件..."
-fi
-
-# ---------- 3. 启动 bringup (含激光雷达) ----------
-echo "[3/8] 启动 AGV Bringup..."
-source "$ROS_SETUP" 2>/dev/null || true
-
-# 【关键】启动前最后确认没有残留共享内存
 rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+start_ros2_daemon || true
 
+# ============================================================================
+# 3. 启动 bringup (含激光雷达)
+# ============================================================================
+step "3/8" "启动 AGV Bringup"
 cd "$AGV_ROS2_DIR"
 source "$ROS_WORKSPACE_SETUP"
 
-nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" > "$BRINGUP_LOG" 2>&1 &
+rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+
+nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
+    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" \
+    > "$BRINGUP_LOG" 2>&1 &
 BRINGUP_PID=$!
 echo "   bringup PID: $BRINGUP_PID"
 
-echo "   等待 bringup 就绪..."
+# 等待 /odom 话题
-BRINGUP_OK=0
+wait_for_topic /odom 40 || show_log_tail "$BRINGUP_LOG"
-for i in $(seq 1 20); do
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
-        echo "   ✅ bringup 已就绪 (${i}x2秒)"
-        BRINGUP_OK=1
-        break
-    fi
-    sleep 2
-done
-if [ "$BRINGUP_OK" -eq 0 ]; then
-    echo "   ⚠️ bringup 未检测到 /odom，继续启动后续组件..."
-    tail -5 "$BRINGUP_LOG" 2>/dev/null || true
-fi
 
-# ---------- 3.5 启动系统时钟发布器 ----------
+# ============================================================================
-echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
+# 4. 启动系统时钟发布器
+# ============================================================================
+step "4/8" "启动系统时钟发布器 (clock_publisher)"
 
 nohup bash -c "source \"$ROS_SETUP\" && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
     > "$CLOCK_LOG" 2>&1 &
 CLOCK_PID=$!
 echo "   clock_publisher PID: $CLOCK_PID"
 sleep 2
 
-# 验证 /clock 话题
+wait_for_topic /clock 10 || show_log_tail "$CLOCK_LOG"
-if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/clock'; then
-    echo "   ✅ /clock 已上线"
-else
-    echo "   ⚠️ /clock 未上线，检查日志："
-    tail -5 "$CLOCK_LOG" 2>/dev/null || true
-fi
 
-# ---------- 4. 启动激光时间戳修正节点 ----------
+# ============================================================================
-echo "[4/8] 启动激光时间戳修正节点..."
+# 5. 启动激光时间戳修正节点
+# ============================================================================
+step "5/8" "启动激光时间戳修正节点"
 
-# 确保 /scan 存在
+# 先等待 /scan 话题
-SCAN_OK=0
+if ! wait_for_topic /scan 20; then
-for i in $(seq 1 10); do
+    echo "   [WARN] /scan 未上线，检查 bringup 日志"
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
-        echo "   /scan 话题已上线"
-        SCAN_OK=1
-        break
-    fi
-    sleep 2
-done
-if [ "$SCAN_OK" -eq 0 ]; then
-    echo "   ⚠️ /scan 未上线，检查 bringup 日志"
 fi
 
 nohup bash -c "source \"$ROS_SETUP\" && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
     > "$SCAN_FIXER_LOG" 2>&1 &
 FIXER_PID=$!
 echo "   fix_scan_timestamp PID: $FIXER_PID"
 sleep 5
 
-# 验证 fixer 进程和 scan_corrected
+# 检查是否有多个 fixer 进程
-FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
+FIXER_COUNT=$(count_matching_processes "fix_scan_timestamp")
 if [ "$FIXER_COUNT" -gt 1 ]; then
-    echo "   ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
+    echo "   [WARN] 发现 $FIXER_COUNT 个 fixer 进程，重启..."
     pkill -f "fix_scan_timestamp" 2>/dev/null || true
     pkill -f "clock_publisher" 2>/dev/null || true
     sleep 2
-    rm -f "$LOCK_DIR/scan_fixer.lock"
+    rm -f /tmp/scan_fixer.lock
     nohup bash -c "source \"$ROS_SETUP\" && \
-        ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
+        ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
         > "$SCAN_FIXER_LOG" 2>&1 &
     FIXER_PID=$!
     sleep 3
 fi
 
-if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
+wait_for_topic /scan_corrected 15 || show_log_tail "$SCAN_FIXER_LOG"
-    echo "   ✅ /scan_corrected 已上线"
-else
-    echo "   ⚠️ /scan_corrected 未上线，检查日志："
-    tail -5 "$SCAN_FIXER_LOG" 2>/dev/null || true
-fi
 
-# ---------- 5. 启动 Nav2 ----------
+# ============================================================================
-echo "[5/8] 启动 Nav2 导航..."
+# 6. 启动 Nav2
-source "$ROS_SETUP" 2>/dev/null || true
+# ============================================================================
-cd "$AGV_ROS2_DIR"
+step "6/8" "启动 Nav2 导航"
-source "$ROS_WORKSPACE_SETUP"
 
-nohup bash -c "source \"$ROS_SETUP\" && \
+nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
-    source \"$ROS_WORKSPACE_SETUP\" && \
+    export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
-    export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
+    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True" \
-    ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
+    > "$NAV2_LOG" 2>&1 &
-    autostart:=True" > "$NAV2_LOG" 2>&1 &
 NAV2_PID=$!
 echo "   Nav2 PID: $NAV2_PID"
 sleep 12
 
 echo "   等待 Nav2 节点就绪..."
-NAV2_OK=0
+wait_for_nodes 'lifecycle_manager_navigation|bt_navigator|controller_server' 3 45 || true
-for i in $(seq 1 15); do
-    NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
-        grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
-    NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
-    if [ "$NODES" -ge 3 ] 2>/dev/null; then
-        echo "   ✅ Nav2 节点已就绪 ($NODES 个)"
-        NAV2_OK=1
-        break
-    fi
-    sleep 3
-done
-if [ "$NAV2_OK" -eq 0 ]; then
-    echo "   ⚠️ Nav2 节点未完全就绪，继续..."
-fi
 
-# ---------- 6. 设置精度参数 ----------
+# ============================================================================
-echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
+# 7. 设置精度参数
-source "$ROS_SETUP" 2>/dev/null || true
+# ============================================================================
-cd "$AGV_ROS2_DIR"
+step "7/8" "设置导航精度参数 (xy_goal_tolerance=0.05m)"
-source "$ROS_WORKSPACE_SETUP"
 
 for NODE in /controller_server /bt_navigator /planner_server; do
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
+    ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
+    ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
 done
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
+ros2_exec timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
+ros2_exec timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
+ros2_exec timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
-echo "   ✅ 精度参数已设置"
+
+info "ok" "精度参数已设置"
+
+# ============================================================================
+# 8. 启动 Flask API
+# ============================================================================
+step "8/8" "启动 Flask API"
 
-# ---------- 7. 启动 Flask ----------
-echo "[7/8] 启动 Flask API..."
-export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL
 cd "$AGV_APP_DIR"
 nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
 FLASK_PID=$!
 echo "   Flask PID: $FLASK_PID"
 sleep 4
 
-# ---------- 8. 最终全面验证 ----------
+# ============================================================================
-echo ""
+# 9. 最终验证
-echo "=========================================="
+# ============================================================================
-echo "  系统全面验证"
+section "系统全面验证"
-echo "=========================================="
 
-# 8a. 验证 ros2 topic list（核心指标）
+# 验证话题数量
 echo ""
 echo "验证 ros2 topic list..."
-TOPIC_COUNT=$(bash -c "source \"$ROS_SETUP\" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null" | wc -l || echo 0)
+TOPIC_COUNT=$(ros2_topic_count 5)
 echo "   话题数量: $TOPIC_COUNT"
 if [ "$TOPIC_COUNT" -gt 10 ]; then
-    echo "   ✅ ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
+    info "ok" "ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
 else
-    echo "   ❌ ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
+    info "err" "ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
     echo "   手动执行: rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_* && ros2 daemon stop && ros2 daemon start"
 fi
 
-# 8b. 验证关键话题
+# 验证关键话题
 echo ""
 echo "验证关键话题..."
-for TOPIC in /odom /scan /cmd_vel /tf; do
+for TOPIC in /odom /scan /cmd_vel /tf /clock /scan_corrected; do
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q "$TOPIC"; then
+    if topic_exists "$TOPIC"; then
-        echo "   ✅ $TOPIC"
+        info "ok" "$TOPIC"
     else
-        echo "   ⚠️ $TOPIC 未找到"
+        info "warn" "$TOPIC 未找到"
     fi
 done
 
-# 8c. 验证进程数量（确保没有重复启动）
+# 验证进程数量
 echo ""
 echo "验证进程数量..."
-BRINGUP_PROCS=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node' | grep -v grep | wc -l || echo 0)
+BRINGUP_PROCS=$(count_matching_processes 'agv_pro_node|lslidar_driver_node')
 echo "   AGV 核心进程: $BRINGUP_PROCS (应为 2)"
 if [ "$BRINGUP_PROCS" -eq 2 ]; then
-    echo "   ✅ 进程数量正常（无重复）"
+    info "ok" "进程数量正常（无重复）"
 elif [ "$BRINGUP_PROCS" -gt 2 ]; then
-    echo "   ⚠️ 发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
+    info "warn" "发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
 else
-    echo "   ⚠️ 进程数量异常"
+    info "warn" "进程数量异常"
 fi
 
-# 8d. FastRTPS 共享内存状态
+# FastRTPS 共享内存状态
 echo ""
 echo "FastRTPS 共享内存状态:"
-FASTRTPS_NEW=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
+FASTRTPS_NEW=$(count_fastrtps_files)
 echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
 
-# 8e. Flask API 测试
+# Flask API 状态
 echo ""
 echo "验证 Flask API..."
-FLASK_RUNNING=$(pgrep -f "app.py" | wc -l || echo 0)
+if pgrep -f "app.py" >/dev/null 2>&1; then
-if [ "$FLASK_RUNNING" -gt 0 ]; then
+    info "ok" "Flask 进程运行中"
-    echo "   ✅ Flask 进程运行中"
 else
-    echo "   ❌ Flask 未运行"
+    info "err" "Flask 未运行"
 fi
 
-# ---------- 完成 ----------
+# ============================================================================
-echo ""
+# 完成
-echo "=========================================="
+# ============================================================================
-echo "  ✅ 启动完成"
+section "[OK] 启动完成"
-echo "=========================================="
 echo ""
 echo "  进程状态:"
-for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
+for proc_info in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
-    NAME="${PROC%%:*}"
+    name="${proc_info%%:*}"
-    PID="${PROC##*:}"
+    pid="${proc_info##*:}"
-    STATUS=$(ps aux | grep -w "$PID" | grep -v grep | awk '{print "运行中"}' || echo '已退出')
+    if ps aux | grep -w "$pid" | grep -v grep >/dev/null 2>&1; then
-    echo "    $NAME : $STATUS"
+        echo "    $name : 运行中 (PID: $pid)"
+    else
+        echo "    $name : 已退出"
+    fi
 done
 echo ""
 echo "  日志文件:"
@@ -357,4 +239,5 @@ echo ""
 echo "  如果仍有问题，请依次执行："
 echo "    1. ./scripts/stop_all.sh"
 echo "    2. rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
-echo "    3. ./scripts/start_all.sh"
+echo "    3. ./scripts/prod-backend.sh"
+echo ""

scripts/ros-common.sh

@@ -0,0 +1,328 @@
+#!/bin/bash
+# ROS AGV 公共库
+# 提供生产脚本共享的配置、清理与验证函数
+
+set -euo pipefail
+
+# ============================================================================
+# 配置（可通过环境变量覆盖）
+# ============================================================================
+readonly AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}"
+readonly AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+readonly AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
+readonly ROS_SETUP="${ROS_SETUP:-/opt/ros/humble/setup.bash}"
+readonly ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
+readonly SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
+readonly LOG_DIR="${LOG_DIR:-/tmp}"
+readonly FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
+readonly AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
+export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
+
+# 日志文件
+readonly BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
+readonly NAV2_LOG="$LOG_DIR/ros2_nav2.log"
+readonly CLOCK_LOG="$LOG_DIR/clock_publisher.log"
+readonly SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
+readonly FLASK_LOG="$LOG_DIR/agv_flask.log"
+
+# ============================================================================
+# 进程管理
+# ============================================================================
+
+# ROS 相关进程列表（用于清理）
+readonly ROS_PROCESSES=(
+    "ros2 launch agv_pro_bringup"
+    "ros2 launch agv_pro_navigation2"
+    "agv_pro_node"
+    "lslidar_driver_node"
+    "component_container"
+    "robot_state_publisher"
+    "fix_scan_timestamp"
+    "clock_publisher"
+    "python.*app.py"
+    "uv run .*python app.py"
+)
+
+# 软杀所有进程
+kill_all_soft() {
+    echo "   软杀进程中..."
+    for proc in "${ROS_PROCESSES[@]}"; do
+        pkill -f "$proc" 2>/dev/null || true
+    done
+    sleep 2
+}
+
+# 硬杀所有进程
+kill_all_hard() {
+    echo "   强制终止中..."
+    for proc in "${ROS_PROCESSES[@]}"; do
+        pkill -9 -f "$proc" 2>/dev/null || true
+    done
+    sleep 1
+}
+
+# 统计匹配进程数
+count_matching_processes() {
+    local pattern=$1
+    local current_pid=$$
+    local shell_pid=$BASHPID
+    local parent_pid=$PPID
+    local count=0
+    local pid
+    local args
+
+    while read -r pid args; do
+        if [ -z "${pid:-}" ]; then
+            continue
+        fi
+        if [ "$pid" = "$current_pid" ] || [ "$pid" = "$shell_pid" ] || [ "$pid" = "$parent_pid" ]; then
+            continue
+        fi
+        if [[ "${args:-}" =~ $pattern ]]; then
+            count=$((count + 1))
+        fi
+    done < <(ps -eo pid=,args=)
+
+    echo "$count"
+}
+
+# 统计残留进程数
+count_residual_processes() {
+    count_matching_processes "agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon"
+}
+
+# ============================================================================
+# FastRTPS 清理
+# ============================================================================
+
+# 清理 FastRTPS 共享内存
+cleanup_fastrtps() {
+    local count
+    count=$(count_fastrtps_files)
+
+    if [ "$count" -gt 0 ]; then
+        rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
+        echo "   已清理 $count 个 FastRTPS 文件"
+    else
+        echo "   无 FastRTPS 文件残留"
+    fi
+
+    # 清理锁文件
+    rm -f /tmp/scan_fixer.lock /tmp/clock_publisher.lock
+}
+
+# 统计 FastRTPS 文件数
+count_fastrtps_files() (
+    shopt -s nullglob
+    local files=("$FASTRTPS_SHM_DIR"/fastrtps_*)
+    echo "${#files[@]}"
+)
+
+# 载入 ROS2 环境后执行命令
+ros2_exec() {
+    bash -c '
+        source "$1" || exit 1
+        if [ -f "$2" ]; then
+            source "$2" || exit 1
+        fi
+        export ROS_DOMAIN_ID="$3"
+        shift 3
+        "$@"
+    ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
+}
+
+# ============================================================================
+# ROS2 环境操作
+# ============================================================================
+
+ros2_topic_list() {
+    ros2_exec ros2 topic list 2>/dev/null || true
+}
+
+ros2_topic_count() {
+    local topics
+    topics=$(ros2_exec timeout "${1:-5}" ros2 topic list 2>/dev/null || true)
+    if [ -z "$topics" ]; then
+        echo 0
+    else
+        printf '%s\n' "$topics" | sed '/^$/d' | wc -l
+    fi
+}
+
+topic_exists() {
+    ros2_topic_list | grep -Fxq "$1"
+}
+
+# 启动 ROS2 daemon
+start_ros2_daemon() {
+    echo "   启动 ros2 daemon..."
+    rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+
+    nohup bash -c '
+        source "$1" || exit 1
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon start
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" >/dev/null 2>&1 &
+    sleep 4
+
+    # 等待 daemon 就绪
+    for _ in $(seq 1 5); do
+        if ros2_exec timeout 3 ros2 topic list &>/dev/null; then
+            echo "   [OK] ros2 daemon 已就绪"
+            return 0
+        fi
+        sleep 2
+    done
+    echo "   [WARN] ros2 daemon 可能有问题"
+    return 1
+}
+
+# 停止 ROS2 daemon
+stop_ros2_daemon() {
+    echo "   重置 ros2 daemon..."
+    pkill -f "ros2-daemon" 2>/dev/null || true
+    pkill -9 -f "ros2-daemon" 2>/dev/null || true
+    sleep 2
+
+    source "$ROS_SETUP" 2>/dev/null || true
+    ros2 daemon stop 2>/dev/null || true
+    echo "   [OK] ros2 daemon 已重置"
+}
+
+# ============================================================================
+# 等待/验证函数
+# ============================================================================
+
+# 等待话题出现
+# 用法: wait_for_topic <话题名> <最大等待秒数>
+wait_for_topic() {
+    local topic=$1
+    local max_wait=${2:-30}
+    local elapsed=0
+
+    while [ "$elapsed" -lt "$max_wait" ]; do
+        if topic_exists "$topic"; then
+            echo "   [OK] $topic 已上线"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo "   [WARN] $topic 未在 $max_wait 秒内上线"
+    return 1
+}
+
+# 等待节点出现（匹配数量）
+# 用法: wait_for_nodes <节点模式> <期望数量> <最大等待秒数>
+wait_for_nodes() {
+    local pattern=$1
+    local expected=$2
+    local max_wait=${3:-30}
+    local elapsed=0
+    local count=0
+
+    while [ "$elapsed" -lt "$max_wait" ]; do
+        local nodes
+        nodes=$(ros2_exec ros2 node list 2>/dev/null || true)
+        count=$(printf '%s\n' "$nodes" | grep -cE "$pattern" || true)
+        if [ "$count" -ge "$expected" ]; then
+            echo "   [OK] 已检测到 $count 个节点"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo "   [WARN] 仅检测到 $count 个节点（期望 $expected 个）"
+    return 1
+}
+
+# ============================================================================
+# 日志/输出辅助
+# ============================================================================
+
+# 打印分节标题
+section() {
+    echo ""
+    echo "=========================================="
+    echo "  $1"
+    echo "=========================================="
+}
+
+# 打印步骤
+step() {
+    echo ""
+    echo "[$1] $2"
+}
+
+# 打印带状态的信息
+info() {
+    local status=$1
+    local msg=$2
+    if [ "$status" = "ok" ]; then
+        echo "   [OK] $msg"
+    elif [ "$status" = "warn" ]; then
+        echo "   [WARN] $msg"
+    elif [ "$status" = "err" ]; then
+        echo "   [ERROR] $msg"
+    else
+        echo "   $msg"
+    fi
+}
+
+# 显示日志尾部
+show_log_tail() {
+    local log_file=$1
+    local lines=${2:-5}
+    if [ -f "$log_file" ]; then
+        echo "   --- 日志尾部 ($log_file) ---"
+        tail -"$lines" "$log_file" 2>/dev/null | sed 's/^/   /' || true
+    fi
+}
+
+# ============================================================================
+# 完整清理流程
+# ============================================================================
+
+# 执行完整清理（供 stop_all.sh 使用）
+full_cleanup() {
+    section "Robot AGV 全量停止"
+
+    step "1/5" "软杀所有相关进程"
+    kill_all_soft
+
+    step "2/5" "强制终止残留进程"
+    kill_all_hard
+
+    step "3/5" "重置 ros2 daemon"
+    stop_ros2_daemon
+
+    step "4/5" "清理 FastRTPS 共享内存"
+    cleanup_fastrtps
+
+    step "5/5" "验证清理结果"
+    local proc_count=$(count_residual_processes)
+    local fastrtps_left=$(count_fastrtps_files)
+
+    echo "   残留进程数: $proc_count"
+    echo "   FastRTPS 文件数: $fastrtps_left"
+
+    if [ "$proc_count" -eq 0 ] && [ "$fastrtps_left" -eq 0 ]; then
+        section "[OK] 停止完成 - 系统已完全清理"
+    else
+        section "[WARN] 停止完成 - 部分残留可能需要手动清理"
+        echo ""
+        echo "  手动清理命令（如需要）:"
+        echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
+        echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
+        echo "    pkill -9 -f 'ros2-daemon'"
+        echo "    rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
+    fi
+    echo ""
+    echo "  现在可以安全运行 ./scripts/prod-backend.sh"
+    echo ""
+}
+
+# ============================================================================
+# 初始化（确保目录存在）
+# ============================================================================
+mkdir -p "$LOG_DIR"

scripts/stop_all.sh

@@ -1,97 +1,16 @@
 #!/bin/bash
 # ============================================================
 # stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
-# 版本: v2.0
+# 版本: v3.0
 # 修复:
+#   - v3.0: 使用公共库重构，减少代码重复
 #   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
 # ============================================================
-set -e
+set -euo pipefail
 
-ROS_DISTRO="${ROS_DISTRO:-humble}"
+# 加载公共库
-ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-LOCK_DIR="${LOCK_DIR:-/tmp}"
+source "$SCRIPT_DIR/ros-common.sh"
-FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
 
-echo "=========================================="
+# 执行完整清理
-echo "  Robot AGV 全量停止"
+full_cleanup
-echo "=========================================="
-echo ""
-
-# ---------- 1. 软杀所有相关进程 ----------
-echo "[1/5] 软杀所有相关进程..."
-pkill -f "python.*app.py" 2>/dev/null || true
-pkill -f "uv run .*python app.py" 2>/dev/null || true
-pkill -f "agv_pro_bringup" 2>/dev/null || true
-pkill -f "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 "component_container" 2>/dev/null || true
-pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-pkill -f "robot_state_publisher" 2>/dev/null || true
-pkill -f "start_all.sh" 2>/dev/null || true
-sleep 2
-
-# ---------- 2. 硬杀确保干净 ----------
-echo "[2/5] 硬杀残留进程..."
-pkill -9 -f "app.py" 2>/dev/null || true
-pkill -9 -f "agv_pro_node" 2>/dev/null || true
-pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-pkill -9 -f "component_container" 2>/dev/null || true
-pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -9 -f "agv_pro_bringup" 2>/dev/null || true
-pkill -9 -f "agv_pro_navigation2" 2>/dev/null || true
-sleep 1
-
-# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
-echo "[3/5] 清理 FastRTPS 共享内存..."
-FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
-if [ "$FASTRTPS_COUNT" -gt 0 ]; then
-    rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
-    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
-else
-    echo "   无 FastRTPS 文件残留"
-fi
-
-# 清理 scan_fixer 锁文件
-rm -f "$LOCK_DIR/scan_fixer.lock"
-rm -f "$LOCK_DIR/clock_publisher.lock"
-echo "   ✅ FastRTPS 清理完成"
-
-# ---------- 4. 【关键】重置 ros2 daemon ----------
-echo "[4/5] 重置 ros2 daemon..."
-pkill -f "ros2-daemon" 2>/dev/null || true
-pkill -9 -f "ros2-daemon" 2>/dev/null || true
-sleep 2
-source "$ROS_SETUP" 2>/dev/null || true
-ros2 daemon stop 2>/dev/null || true
-echo "   ✅ ros2 daemon 已重置"
-
-# ---------- 5. 验证清理结果 ----------
-echo "[5/5] 验证清理结果..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
-FASTRTPS_LEFT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
-
-echo "   残留进程数: $PROC_COUNT"
-echo "   FastRTPS 文件数: $FASTRTPS_LEFT"
-
-if [ "$PROC_COUNT" -eq 0 ] && [ "$FASTRTPS_LEFT" -eq 0 ]; then
-    echo ""
-    echo "=========================================="
-    echo "  ✅ 停止完成 - 系统已完全清理"
-    echo "=========================================="
-else
-    echo ""
-    echo "=========================================="
-    echo "  ⚠️ 停止完成 - 部分残留可能需要手动清理"
-    echo "=========================================="
-    echo ""
-    echo "  手动清理命令（如需要）:"
-    echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
-    echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
-    echo "    pkill -9 -f 'ros2-daemon'"
-    echo "    rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
-fi
-echo ""
-echo "  现在可以安全运行 ./start_all.sh"
-echo ""