diff --git a/agv_app/start_all.sh b/agv_app/start_all.sh
index b42cade..78fa01e 100755
--- a/agv_app/start_all.sh
+++ b/agv_app/start_all.sh
@@ -39,8 +39,13 @@ nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_n
 NAV2_PID=$!
 echo "Nav2 started, PID: $NAV2_PID"
 
-sleep 5
-echo "✅ Nav2 导航已启动"
+sleep 10
+echo "=== 激活 Nav2 Lifecycle ==="
+ros2 lifecycle set /lifecycle_manager_navigation configure 2>&1 | tee -a /tmp/start_all.log
+sleep 3
+ros2 lifecycle set /lifecycle_manager_navigation activate 2>&1 | tee -a /tmp/start_all.log
+sleep 3
+echo "✅ Nav2 导航已启动并激活"
 
 echo "=== 启动 Flask ==="
 cd /home/elephant/work/agv_app