Update project structure

2026-06-19 18:10:43 +08:00
parent 52f1930f9a
commit 7083c45feb
24 changed files with 1718 additions and 2159 deletions
@@ -0,0 +1,72 @@
+# AGV 智能巡检系统 — 脚本说明
+
+## 目录结构
+
+```
+scripts/
+├── start_all.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）
+├── restart_flask.sh      ← 语法检查 + 清缓存 + 重启 Flask + 验证
+└── dev_start.sh          ← 本地开发用（前台运行，不启动 ROS2）
+```
+
+## 使用场景
+
+### 1. 首次开机 / 完整重启
+```bash
+# 在 AGV 上执行
+cd ~/work/smart-inspection/scripts
+./stop_all.sh    # 先彻底清理
+./start_all.sh   # 完整启动
+```
+
+### 2. 修改代码后快速部署
+```bash
+# 部署文件到 AGV 后
+ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
+```
+
+### 3. 本地开发调试（不连硬件）
+```bash
+# 在本机执行，仅启动 Flask
+./scripts/dev_start.sh
+# 访问 http://127.0.0.1:5000
+```
+
+### 4. 远程轻量重启（ROS2 已运行）
+```bash
+ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
+```
+
+## 环境变量
+
+所有脚本支持通过环境变量覆盖默认路径：
+
+| 变量 | 默认值 | 说明 |
+|------|--------|------|
+| `AGV_APP_DIR` | `/home/elephant/work/agv_app` | Flask 项目目录 |
+| `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
+| `SCAN_FIXER_DIR` | `/home/elephant/work/scan_fixer` | 时间戳修正工具目录 |
+| `FIXER_SCRIPT` | `fix_scan_timestamp_v6.py` | fixer 脚本名 |
+
+## 日志位置（AGV 上）
+
+| 组件 | 日志 |
+|------|------|
+| bringup (激光雷达) | `/tmp/ros2_bringup.log` |
+| Nav2 导航 | `/tmp/ros2_nav2.log` |
+| scan fixer | `/tmp/scan_fixer.log` |
+| Flask | `/tmp/agv_flask.log` |
+
+## 机械臂端
+
+机械臂 (Pi) 的启动由 systemd 托管，在 Pi 上执行：
+
+```bash
+sudo systemctl start arm_server     # 启动
+sudo systemctl status arm_server    # 查看状态
+sudo systemctl enable arm_server    # 开机自启
+```
+
+配置见 `arm_server/arm_server.service`。
@@ -0,0 +1,39 @@
+#!/bin/bash
+# ============================================================
+# dev_start.sh - 本地开发环境启动（不启动 ROS2/机械臂硬件）
+# 用法: ./scripts/dev_start.sh
+# ============================================================
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+AGV_APP_DIR="$PROJECT_DIR/agv_app"
+
+echo "=========================================="
+echo "  本地开发模式 - 仅启动 Flask"
+echo "=========================================="
+echo ""
+
+# 切换到项目目录
+cd "$AGV_APP_DIR"
+
+# 检查是否有运行的 Flask 进程
+FLASK_PID=$(pgrep -f "python.*app.py" 2>/dev/null || true)
+if [ -n "$FLASK_PID" ]; then
+    echo "Flask 已在运行 (PID: $FLASK_PID)"
+    read -p "是否重启? [y/N] " -n 1 -r
+    echo
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+        kill "$FLASK_PID" 2>/dev/null
+        sleep 1
+    else
+        echo "保持现有进程，退出"
+        exit 0
+    fi
+fi
+
+# 使用前台模式运行（方便看日志和 Ctrl+C 停止）
+echo "启动 Flask (前台模式，Ctrl+C 停止)..."
+echo "访问: http://127.0.0.1:5000"
+echo ""
+exec python3 app.py
@@ -0,0 +1,58 @@
+#!/bin/bash
+# ============================================================
+# restart_flask.sh - 语法检查 + 重启 Flask + 验证
+# 用法: ssh elephant@<AGV_IP> 'bash -s' < scripts/restart_flask.sh
+#       或在 AGV 上: cd ~/work/agv_app && ../../scripts/restart_flask.sh
+# ============================================================
+set -e
+
+AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+cd "$AGV_APP_DIR"
+
+echo "=========================================="
+echo "  重启 Flask 服务"
+echo "=========================================="
+echo ""
+
+# 1. 语法检查
+echo "[1/3] Python 语法检查..."
+python3 -m py_compile app.py
+if [ $? -ne 0 ]; then
+    echo "❌ 语法错误，请先修复"
+    exit 1
+fi
+echo "   ✅ 语法检查通过"
+
+# 2. 清缓存 + 重启
+echo "[2/3] 清理缓存并重启..."
+find "$AGV_APP_DIR" -name '*.pyc' -delete 2>/dev/null
+find "$AGV_APP_DIR" -name '__pycache__' -type d -exec rm -rf {} + 2>/dev/null
+
+pkill -f "python.*app.py" 2>/dev/null || true
+sleep 1
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+FLASK_PID=$!
+echo "   Flask PID: $FLASK_PID"
+
+# 3. 验证
+echo "[3/3] 验证服务..."
+sleep 3
+if ss -tlnp 2>/dev/null | grep -q 5000 || netstat -tlnp 2>/dev/null | grep -q 5000; then
+    echo "   ✅ 端口 5000 正常监听"
+    # 测试机械臂摄像头单帧
+    result=$(curl -s --max-time 5 http://127.0.0.1:5000/api/camera/arm_refresh 2>/dev/null | head -c 4)
+    if [ "$result" = "$(echo -en '\xff\xd8\xff\xe0')" ]; then
+        echo "   ✅ arm_refresh 返回 JPEG"
+    else
+        echo "   ⚠️ arm_refresh 返回异常（机械臂可能未连接）"
+    fi
+else
+    echo "   ❌ 端口 5000 未监听，查看日志:"
+    tail -10 /tmp/agv_flask.log
+    exit 1
+fi
+
+echo ""
+echo "=========================================="
+echo "  ✅ 重启完成"
+echo "=========================================="
@@ -0,0 +1,341 @@
+#!/bin/bash
+# ============================================================
+# Robot AGV 全量启动脚本 v4.0
+# 修复：
+#   - 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
+
+# ---- 可配置项（环境变量覆盖默认值） ----
+AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-/home/elephant/work/scan_fixer}"
+FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
+ROS_DOMAIN_ID_VAL=1
+
+echo "=========================================="
+echo "  Robot AGV 全量启动 v4.0"
+echo "=========================================="
+echo ""
+
+# ---------- 1. 清理旧进程 + FastRTPS 共享内存 ----------
+echo "[1/8] 清理旧进程和共享内存..."
+
+# 杀掉所有相关进程（先软杀，再硬杀确保干净）
+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
+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=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+if [ "$FASTRTPS_COUNT" -gt 0 ]; then
+    rm -rf /dev/shm/fastrtps_*
+    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
+else
+    echo "   无 FastRTPS 文件残留"
+fi
+
+# 清理 scan_fixer 锁文件
+rm -f /tmp/scan_fixer.lock
+
+# 【关键】验证进程已全部停止
+echo "   验证进程停止..."
+PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
+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..."
+    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 "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: $PROC_COUNT2"
+fi
+echo "   ✅ 清理完成"
+
+# ---------- 2. 启动 ros2 daemon ----------
+echo "[2/8] 启动 ros2 daemon..."
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+
+# 再次确保没有残留共享内存（启动 daemon 前）
+rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
+
+# 使用 bash -c 确保环境变量正确传递
+nohup bash -c "source /opt/ros/humble/setup.bash && export ROS_DOMAIN_ID=$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 $(seq 1 5); do
+    DAEMON_TOPICS=$(source /opt/ros/humble/setup.bash && 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 [ "$DAEMON_OK" -eq 0 ]; then
+    echo "   ⚠️ ros2 daemon 可能有问题，继续尝试启动组件..."
+fi
+
+# ---------- 3. 启动 bringup (含激光雷达) ----------
+echo "[3/8] 启动 AGV Bringup..."
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+
+# 【关键】启动前最后确认没有残留共享内存
+rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
+
+cd "$AGV_ROS2_DIR"
+source install/setup.bash
+
+nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller" > /tmp/ros2_bringup.log 2>&1 &
+BRINGUP_PID=$!
+echo "   bringup PID: $BRINGUP_PID"
+
+echo "   等待 bringup 就绪..."
+BRINGUP_OK=0
+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 /tmp/ros2_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)..."
+
+nohup bash -c "source /opt/ros/humble/setup.bash && \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/clock_publisher.py" \
+    > /tmp/clock_publisher.log 2>&1 &
+CLOCK_PID=$!
+echo "   clock_publisher PID: $CLOCK_PID"
+sleep 2
+
+# 验证 /clock 话题
+if ROS_DOMAIN_ID=$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 /tmp/clock_publisher.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..."
+
+# 确保 /scan 存在
+SCAN_OK=0
+for i in $(seq 1 10); do
+    if ROS_DOMAIN_ID=$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 [ "$SCAN_OK" -eq 0 ]; then
+    echo "   ⚠️ /scan 未上线，检查 bringup 日志"
+fi
+
+nohup bash -c "source /opt/ros/humble/setup.bash && \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
+    > /tmp/scan_fixer.log 2>&1 &
+FIXER_PID=$!
+echo "   fix_scan_timestamp PID: $FIXER_PID"
+sleep 5
+
+# 验证 fixer 进程和 scan_corrected
+FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
+if [ "$FIXER_COUNT" -gt 1 ]; then
+    echo "   ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
+    pkill -f "fix_scan_timestamp" 2>/dev/null || true
+pkill -f "clock_publisher" 2>/dev/null || true
+    sleep 2
+    rm -f /tmp/scan_fixer.lock
+    nohup bash -c "source /opt/ros/humble/setup.bash && \
+        ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
+        > /tmp/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
+    echo "   ✅ /scan_corrected 已上线"
+else
+    echo "   ⚠️ /scan_corrected 未上线，检查日志："
+    tail -5 /tmp/scan_fixer.log 2>/dev/null || true
+fi
+
+# ---------- 5. 启动 Nav2 ----------
+echo "[5/8] 启动 Nav2 导航..."
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+cd "$AGV_ROS2_DIR"
+source install/setup.bash
+
+nohup bash -c "source /opt/ros/humble/setup.bash && \
+    source /home/elephant/agv_pro_ros2/install/setup.bash && \
+    export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
+    ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
+    autostart:=True" > /tmp/ros2_nav2.log 2>&1 &
+NAV2_PID=$!
+echo "   Nav2 PID: $NAV2_PID"
+sleep 12
+
+echo "   等待 Nav2 节点就绪..."
+NAV2_OK=0
+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)..."
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+cd "$AGV_ROS2_DIR"
+source install/setup.bash
+
+for NODE in /controller_server /bt_navigator /planner_server; do
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
+done
+ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
+ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
+ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
+echo "   ✅ 精度参数已设置"
+
+# ---------- 7. 启动 Flask ----------
+echo "[7/8] 启动 Flask API..."
+export ROS_DOMAIN_ID=1
+cd "$AGV_APP_DIR"
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+FLASK_PID=$!
+echo "   Flask PID: $FLASK_PID"
+sleep 4
+
+# ---------- 8. 最终全面验证 ----------
+echo ""
+echo "=========================================="
+echo "  系统全面验证"
+echo "=========================================="
+
+# 8a. 验证 ros2 topic list（核心指标）
+echo ""
+echo "验证 ros2 topic list..."
+TOPIC_COUNT=$(source /opt/ros/humble/setup.bash && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null | wc -l || echo 0)
+echo "   话题数量: $TOPIC_COUNT"
+if [ "$TOPIC_COUNT" -gt 10 ]; then
+    echo "   ✅ 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)"
+    echo "   手动执行: rm -rf /dev/shm/fastrtps_* && ros2 daemon stop && ros2 daemon start"
+fi
+
+# 8b. 验证关键话题
+echo ""
+echo "验证关键话题..."
+for TOPIC in /odom /scan /cmd_vel /tf; do
+    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q "$TOPIC"; then
+        echo "   ✅ $TOPIC"
+    else
+        echo "   ⚠️ $TOPIC 未找到"
+    fi
+done
+
+# 8c. 验证进程数量（确保没有重复启动）
+echo ""
+echo "验证进程数量..."
+BRINGUP_PROCS=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node' | grep -v grep | wc -l || echo 0)
+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）"
+elif [ "$BRINGUP_PROCS" -gt 2 ]; then
+    echo "   ⚠️ 发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
+else
+    echo "   ⚠️ 进程数量异常"
+fi
+
+# 8d. FastRTPS 共享内存状态
+echo ""
+echo "FastRTPS 共享内存状态:"
+FASTRTPS_NEW=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
+
+# 8e. Flask API 测试
+echo ""
+echo "验证 Flask API..."
+FLASK_RUNNING=$(ps aux | grep "[p]ython3 app.py" | wc -l || echo 0)
+if [ "$FLASK_RUNNING" -gt 0 ]; then
+    echo "   ✅ Flask 进程运行中"
+else
+    echo "   ❌ Flask 未运行"
+fi
+
+# ---------- 完成 ----------
+echo ""
+echo "=========================================="
+echo "  ✅ 启动完成"
+echo "=========================================="
+echo ""
+echo "  进程状态:"
+for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
+    NAME="${PROC%%:*}"
+    PID="${PROC##*:}"
+    STATUS=$(ps aux | grep -w "$PID" | grep -v grep | awk '{print "运行中"}' || echo '已退出')
+    echo "    $NAME : $STATUS"
+done
+echo ""
+echo "  日志文件:"
+echo "    bringup  : /tmp/ros2_bringup.log"
+echo "    Nav2     : /tmp/ros2_nav2.log"
+echo "    fixer    : /tmp/scan_fixer.log"
+echo "    Flask    : /tmp/agv_flask.log"
+echo ""
+echo "  如果仍有问题，请依次执行："
+echo "    1. ./stop_all.sh"
+echo "    2. rm -rf /dev/shm/fastrtps_*"
+echo "    3. ./start_all.sh"
@@ -0,0 +1,20 @@
+#!/bin/bash
+# ============================================================
+# start_flask.sh - 仅启动/重启 Flask 服务（不启动 ROS2）
+# 适用于: 修改了前端/API 代码后快速重启
+# ============================================================
+AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+
+pkill -f "python.*app.py" 2>/dev/null || true
+sleep 1
+
+cd "$AGV_APP_DIR"
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+echo "Flask started, PID: $!"
+sleep 2
+
+if ss -tlnp 2>/dev/null | grep -q 5000 || netstat -tlnp 2>/dev/null | grep -q 5000; then
+    echo "✅ 端口 5000 正常"
+else
+    echo "⚠️ 端口 5000 未监听，检查 /tmp/agv_flask.log"
+fi
@@ -0,0 +1,91 @@
+#!/bin/bash
+# ============================================================
+# stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
+# 版本: v2.0
+# 修复:
+#   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
+# ============================================================
+set -e
+
+echo "=========================================="
+echo "  Robot AGV 全量停止"
+echo "=========================================="
+echo ""
+
+# ---------- 1. 软杀所有相关进程 ----------
+echo "[1/5] 软杀所有相关进程..."
+pkill -f "python3 app.py" 2>/dev/null || true
+pkill -f "agv_pro_bringup" 2>/dev/null || true
+pkill -f "agv_pro_navigation2" 2>/dev/null || true
+pkill -f "agv_pro_node" 2>/dev/null || true
+pkill -f "lslidar_driver_node" 2>/dev/null || true
+pkill -f "component_container" 2>/dev/null || true
+pkill -f "fix_scan_timestamp" 2>/dev/null || true
+pkill -f "clock_publisher" 2>/dev/null || true
+pkill -f "robot_state_publisher" 2>/dev/null || true
+pkill -f "start_all.sh" 2>/dev/null || true
+sleep 2
+
+# ---------- 2. 硬杀确保干净 ----------
+echo "[2/5] 硬杀残留进程..."
+pkill -9 -f "app.py" 2>/dev/null || true
+pkill -9 -f "agv_pro_node" 2>/dev/null || true
+pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
+pkill -9 -f "component_container" 2>/dev/null || true
+pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
+pkill -9 -f "agv_pro_bringup" 2>/dev/null || true
+pkill -9 -f "agv_pro_navigation2" 2>/dev/null || true
+sleep 1
+
+# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
+echo "[3/5] 清理 FastRTPS 共享内存..."
+FASTRTPS_COUNT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
+if [ "$FASTRTPS_COUNT" -gt 0 ]; then
+    rm -rf /dev/shm/fastrtps_*
+    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
+else
+    echo "   无 FastRTPS 文件残留"
+fi
+
+# 清理 scan_fixer 锁文件
+rm -f /tmp/scan_fixer.lock
+rm -f /tmp/clock_publisher.lock
+echo "   ✅ FastRTPS 清理完成"
+
+# ---------- 4. 【关键】重置 ros2 daemon ----------
+echo "[4/5] 重置 ros2 daemon..."
+pkill -f "ros2-daemon" 2>/dev/null || true
+pkill -9 -f "ros2-daemon" 2>/dev/null || true
+sleep 2
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+ros2 daemon stop 2>/dev/null || true
+echo "   ✅ ros2 daemon 已重置"
+
+# ---------- 5. 验证清理结果 ----------
+echo "[5/5] 验证清理结果..."
+PROC_COUNT=$(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 /dev/shm/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 /dev/shm/fastrtps_*"
+fi
+echo ""
+echo "  现在可以安全运行 ./start_all.sh"
+echo ""