init

agv_app/start_all.sh

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+#!/bin/bash
+# AGV 拍摄系统完整启动脚本 - ROS2 + Flask
+# 使用方法: ./start_all.sh
+
+echo "=== 停止旧进程 ==="
+pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null
+pkill -f "python.*app.py" 2>/dev/null
+sleep 2
+
+echo "=== 启动 ROS2 Bringup ==="
+# Source ROS2 环境
+source /opt/ros/humble/setup.bash
+cd /home/elephant/agv_pro_ros2
+source install/setup.bash
+
+# 启动 ROS2 bringup (后台运行)
+nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
+ROS2_PID=$!
+echo "ROS2 bringup started, PID: $ROS2_PID"
+
+# 等待 ROS2 初始化 (AGV节点需要连接串口)
+echo "等待 ROS2 初始化..."
+sleep 5
+
+# 检查 ROS2 节点是否启动
+if source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && ros2 node list 2>/dev/null | grep -q agv_pro_node; then
+    echo "✅ ROS2 AGV 节点已启动"
+else
+    echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
+fi
+
+echo "=== 启动 Flask ==="
+cd /home/elephant/work/agv_app
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+FLASK_PID=$!
+echo "Flask started, PID: $FLASK_PID"
+
+sleep 2
+echo ""
+echo "=== 启动完成 ==="
+echo "ROS2 log: /tmp/ros2_bringup.log"
+echo "Flask log: /tmp/agv_flask.log"
+echo ""
+echo "检查状态:"
+echo "  ros2 node list"
+echo "  curl http://localhost:5000/api/status"