Improve camera status and production startup

scripts/ros-common.sh

@@ -16,6 +16,7 @@ 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="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
+readonly UV_BIN="${UV_BIN:-}"
 export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
 
 # 日志文件
@@ -131,6 +132,32 @@ ros2_exec() {
     ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
 }
 
+resolve_uv_bin() {
+    if [ -n "$UV_BIN" ]; then
+        if [ -x "$UV_BIN" ]; then
+            echo "$UV_BIN"
+            return 0
+        fi
+        return 1
+    fi
+
+    local candidate
+    candidate=$(command -v uv 2>/dev/null || true)
+    if [ -n "$candidate" ]; then
+        echo "$candidate"
+        return 0
+    fi
+
+    for candidate in "$HOME/.local/bin/uv" "$HOME/.cargo/bin/uv"; do
+        if [ -x "$candidate" ]; then
+            echo "$candidate"
+            return 0
+        fi
+    done
+
+    return 1
+}
+
 # ============================================================================
 # ROS2 环境操作
 # ============================================================================
@@ -184,8 +211,11 @@ stop_ros2_daemon() {
     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
+    bash -c '
+        source "$1" || exit 0
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon stop
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" 2>/dev/null || true
     echo "   [OK] ros2 daemon 已重置"
 }
 
@@ -223,7 +253,7 @@ wait_for_nodes() {
 
     while [ "$elapsed" -lt "$max_wait" ]; do
         local nodes
-        nodes=$(ros2_exec ros2 node list 2>/dev/null || true)
+        nodes=$(ros2_exec timeout 8 ros2 node list --no-daemon --spin-time 3 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"