From 8092908f3738e9f55b951d92b93f9236dd095d35 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sat, 16 May 2026 19:32:03 +0800
Subject: [PATCH] =?UTF-8?q?start=5Fall.sh:=20Nav2=20=E5=90=AF=E5=8A=A8?=
 =?UTF-8?q?=E5=90=8E=E8=87=AA=E5=8A=A8=20configure+activate=20lifecycle?=
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新增 nav2_navigator heredoc pipe 方式（避免 bash 单引号转义问题）
新增 /tmp/patch_installed_launch.py（自动给 install 目录下的 launch.py 加 autostart=True）
---
 agv_app/start_all.sh | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

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