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ywb
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#!/bin/bash
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# ============================================================
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# Robot AGV 全量启动脚本 v2.6
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# 修复：
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# - 清理 scan_fixer lock 文件防残留
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# - Nav2 节点检测 grep -c 改为单行输出
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# - nohup 启动 Nav2 用 bash -c 包裹（确保 source 环境）
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# ============================================================
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set -e
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AGV_APP_DIR="/home/elephant/work/agv_app"
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AGV_ROS2_DIR="/home/elephant/agv_pro_ros2"
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ROS_DOMAIN_ID_VAL=1
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echo "=========================================="
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echo " Robot AGV 全量启动 v2.6"
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echo "=========================================="
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echo ""
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# ---------- 1. 清理旧进程（不杀 ros2-daemon） ----------
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echo "[1/7] 清理旧进程..."
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pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
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pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
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pkill -f "agv_pro_node" 2>/dev/null || true
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pkill -f "lslidar_driver_node" 2>/dev/null || true
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pkill -f "fix_scan_timestamp" 2>/dev/null || true
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pkill -f "python.*app.py" 2>/dev/null || true
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sleep 4
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# 清理 scan_fixer 锁文件（防残留 PID 导致启动失败）
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rm -f /tmp/scan_fixer.lock
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echo " 清理完成"
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# ---------- 2. 重启 ros2 daemon ----------
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echo "[2/7] 重启 ros2 daemon..."
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pkill -f "ros2-daemon" 2>/dev/null || true
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sleep 2
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nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" >/dev/null 2>&1 &
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sleep 5
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echo " ros2 daemon 已就绪"
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# ---------- 3. 启动 bringup (含激光雷达) ----------
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echo "[3/7] 启动 AGV Bringup..."
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source /opt/ros/humble/setup.bash
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cd "$AGV_ROS2_DIR"
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source install/setup.bash
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nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py \
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port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
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BRINGUP_PID=$!
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echo " bringup PID: $BRINGUP_PID"
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echo " 等待 bringup 就绪..."
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for i in $(seq 1 20); do
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
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echo " ✅ bringup 已就绪"
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break
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fi
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sleep 2
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done
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# ---------- 4. 启动激光时间戳修正节点 ----------
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echo "[4/7] 启动激光时间戳修正节点..."
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pkill -f "fix_scan_timestamp" 2>/dev/null || true
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sleep 2
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# 确保 /scan 存在
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for i in $(seq 1 10); do
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
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echo " /scan 话题已上线"
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break
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fi
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sleep 2
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done
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nohup bash -c "source /opt/ros/humble/setup.bash && \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
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> /tmp/scan_fixer.log 2>&1 &
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FIXER_PID=$!
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echo " fix_scan_timestamp PID: $FIXER_PID"
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sleep 5
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# 验证 fixer 进程和 scan_corrected
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FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
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if [ "$FIXER_COUNT" -gt 1 ]; then
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echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
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pkill -f "fix_scan_timestamp" 2>/dev/null || true
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sleep 2
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rm -f /tmp/scan_fixer.lock
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nohup bash -c "source /opt/ros/humble/setup.bash && \
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
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> /tmp/scan_fixer.log 2>&1 &
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FIXER_PID=$!
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sleep 3
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fi
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if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
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echo " ✅ /scan_corrected 已上线"
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else
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echo " ⚠️ /scan_corrected 未上线，检查日志："
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tail -5 /tmp/scan_fixer.log
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fi
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# ---------- 5. 启动 Nav2 ----------
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echo "[5/7] 启动 Nav2 导航..."
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source /opt/ros/humble/setup.bash
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cd "$AGV_ROS2_DIR"
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source install/setup.bash
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# 使用 bash -c 确保 source 环境变量传递到 nohup
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nohup bash -c "source /opt/ros/humble/setup.bash && \
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source /home/elephant/agv_pro_ros2/install/setup.bash && \
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export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
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ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
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autostart:=True" > /tmp/ros2_nav2.log 2>&1 &
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NAV2_PID=$!
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echo " Nav2 PID: $NAV2_PID"
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sleep 12
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echo " 等待 Nav2 节点就绪..."
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for i in $(seq 1 20); do
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NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
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grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
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# 去除可能的换行符，确保是单个数字
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NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
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if [ "$NODES" -ge 3 ] 2>/dev/null; then
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echo " ✅ Nav2 节点已就绪 ($NODES 个)"
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break
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fi
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sleep 3
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done
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# ---------- 6. 设置精度参数 ----------
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echo "[6/7] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
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source /opt/ros/humble/setup.bash
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cd "$AGV_ROS2_DIR"
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source install/setup.bash
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for NODE in /controller_server /bt_navigator /planner_server; do
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
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done
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
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ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
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echo " 精度参数已设置"
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# ---------- 7. 启动 Flask ----------
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echo "[7/7] 启动 Flask API..."
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cd "$AGV_APP_DIR"
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nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
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FLASK_PID=$!
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echo " Flask PID: $FLASK_PID"
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sleep 4
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# ---------- 完成 ----------
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echo ""
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echo "=========================================="
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echo " ✅ 启动完成"
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echo "=========================================="
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echo ""
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echo " 进程状态:"
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for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
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NAME="${PROC%%:*}"
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PID="${PROC##*:}"
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echo " $NAME : $(ps aux | grep -w "$PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
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done
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echo ""
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echo " 日志文件:"
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echo " bringup : /tmp/ros2_bringup.log"
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echo " Nav2 : /tmp/ros2_nav2.log"
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echo " fixer : /tmp/scan_fixer.log"
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echo " Flask : /tmp/agv_flask.log"
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echo ""
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echo " 关键验证命令:"
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echo " curl http://localhost:5000/api/navigate/status"
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echo " ROS_DOMAIN_ID=1 ros2 topic echo /scan_corrected --once"
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echo " ROS_DOMAIN_ID=1 ros2 topic echo /amcl_pose --once"
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