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

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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）
This commit is contained in:
ywb
2026-05-16 19:32:03 +08:00
parent 4e3cb4d3ef
commit 8092908f37
1 changed files with 7 additions and 2 deletions
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agv_app/start_all.sh
+7 -2
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@@ -39,8 +39,13 @@ nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_n
NAV2_PID=$! NAV2_PID=$!
echo "Nav2 started, PID: $NAV2_PID" echo "Nav2 started, PID: $NAV2_PID"
sleep 5 sleep 10
echo "✅ Nav2 导航已启动" 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 ===" echo "=== 启动 Flask ==="
cd /home/elephant/work/agv_app cd /home/elephant/work/agv_app