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agv_app/utils/nav2_navigator.py

@@ -17,7 +17,7 @@ logger = logging.getLogger(__name__)
 
 
 def _run_ros2_bash(cmd: str, timeout: float = 5.0) -> Tuple[int, str, str]:
-    """执行 ros2 命令（通过 bash -l 避免环境问题）"""
+    """执行 ros2 命令（直接运行，不二次包装）"""
     setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
     full_cmd = f"bash -l -c '{setup} && {cmd}'"
     try:
@@ -90,11 +90,32 @@ class Nav2Navigator:
         os.chmod(script, 0o755)
 
     def _check_nav2_available(self) -> bool:
-        """检查 Nav2 action server 是否可用"""
-        rc, out, err = _run_ros2_bash("ros2 action list")
-        if rc != 0:
-            return False
-        return "/navigate_to_pose" in out or "navigate_to_pose" in out
+        """检查 Nav2 action server 是否可用（带缓存 10 秒）"""
+        import time as time_mod
+        if hasattr(self, '_nav2_check_time') and hasattr(self, '_nav2_check_result'):
+            if time_mod.time() - self._nav2_check_time < 10:
+                return self._nav2_check_result
+        # 写入脚本文件执行，兼容 Flask subprocess 环境
+        script = (
+            "#!/bin/bash\n"
+            "source /opt/ros/humble/setup.bash 2>/dev/null\n"
+            "source /home/elephant/agv_pro_ros2/install/setup.bash 2>/dev/null\n"
+            "ros2 action list 2>&1\n"
+        )
+        script_file = "/tmp/nav2_check.sh"
+        with open(script_file, "w") as f:
+            f.write(script)
+        import os
+        os.chmod(script_file, 0o755)
+        r = subprocess.run([script_file], capture_output=True, text=True, timeout=8)
+        rc = r.returncode
+        out = r.stdout
+        err = r.stderr
+        result = rc == 0 and ("/navigate_to_pose" in out or "navigate_to_pose" in out)
+        logger.debug(f"_check_nav2_available: rc={rc}, out={out[:100]}, result={result}")
+        self._nav2_check_result = result
+        self._nav2_check_time = time_mod.time()
+        return result
 
     def _get_current_pose(self) -> List[float]:
         """从 /odom 获取当前位置 [x, y, yaw]"""