From 924f9f3be6ff31d29c547dbf4d84fe24651182d8 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sat, 16 May 2026 01:26:51 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20get=5Fposition=E8=BF=94=E5=9B=9E?=
 =?UTF-8?q?=E7=BC=93=E5=AD=98=E4=BD=8D=E7=BD=AE=E9=98=B2=E6=AD=A2odom?=
 =?UTF-8?q?=E6=97=A0=E6=95=B0=E6=8D=AE=E6=97=B6=E6=95=B4=E4=BD=93=E5=A4=B1?=
 =?UTF-8?q?=E8=B4=A5=EF=BC=9Bmap=5Fnavigator=20ROS=5FDOMAIN=5FID=3D1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 agv_app/utils/agv_controller_ros2.py | 5 +++++
 agv_app/utils/map_navigator.py       | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/agv_app/utils/agv_controller_ros2.py b/agv_app/utils/agv_controller_ros2.py
index 82e2899..7f2f34b 100644
--- a/agv_app/utils/agv_controller_ros2.py
+++ b/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:
diff --git a/agv_app/utils/map_navigator.py b/agv_app/utils/map_navigator.py
index cc266aa..91131c3 100644
--- a/agv_app/utils/map_navigator.py
+++ b/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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