fix: get_position返回缓存位置防止odom无数据时整体失败；map_navigator ROS_DOMAIN_ID=1

agv_app/utils/agv_controller_ros2.py

@@ -185,8 +185,13 @@ class AGVController:
                     yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
                     self._position = [x, y, yaw]
                     return self._position
+            elif self._connected:
+                # 连接正常但 odom 暂时无数据，返回缓存位置
+                return self._position
         except Exception as e:
             logger.debug(f"获取位置失败: {e}")
+        if self._connected:
+            return self._position
         return None
 
     def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:

agv_app/utils/map_navigator.py

@@ -22,7 +22,7 @@ from enum import Enum
 logger = logging.getLogger(__name__)
 
 # ROS2 环境设置（与 agv_controller_ros2.py 保持一致）
-ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=0 && source ~/agv_pro_ros2/install/setup.bash"
+ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
 
 
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