start_all.sh: Nav2 启动后自动 configure+activate lifecycle

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）
2026-05-16 19:32:03 +08:00
parent 4e3cb4d3ef
commit 8092908f37
1 changed files with 7 additions and 2 deletions
@@ -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