Nav2导航 + 初始化位置功能

- nav2_navigator.py: 通过 ros2 action 与 Nav2 通信，修复 YAML 格式（pose 嵌套）
- mission_executor.py: 改用 Nav2 navigate_to_pose action 导航
- app.py: navigate/to 等 API 改用 Nav2Navigator；新增 /api/mission/init_pose
  API，通过子进程调用 rclpy 发布 /initialpose 到 (0,0,0)
- setting.html/js: 任务配置Tab加「初始化位置」按钮

注意：ROS2 daemon (domain=1) 与 Flask 在不同 domain，
Flask 进程内调用 rclpy 会破坏 daemon 状态，需通过子进程调用

agv_app/app.py

@@ -641,6 +641,33 @@ def api_mission_position():
     return jsonify({"ok": True, "position": pos, "battery": battery})
 
 
+@app.route("/api/mission/init_pose", methods=["POST"])
+def api_mission_init_pose():
+    """将 AMCL 初始位置设为 (0,0,0)，无需 RViz"""
+    try:
+        script = "/tmp/ros2_init_pose.sh"
+        lines = [
+            "#!/bin/bash",
+            "export ROS_DOMAIN_ID=1",
+            "source /opt/ros/humble/setup.bash",
+            "source ~/agv_pro_ros2/install/setup.bash",
+            "python3 /tmp/publish_init_pose.py",
+        ]
+        with open(script, "w") as f:
+            f.write("\n".join(lines) + "\n")
+        os.chmod(script, 0o755)
+        result = subprocess.run(
+            [script],
+            capture_output=True, text=True, timeout=12,
+            env={**os.environ, "ROS_DOMAIN_ID": "1"}
+        )
+        logger.info(f"init_pose: rc={result.returncode}")
+        return jsonify({"ok": True, "message": "初始位置已设为 (0,0,0)"})
+    except Exception as e:
+        logger.error(f"初始化位置失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+
 @app.route("/api/mission/config", methods=["GET"])
 def api_mission_config_get():
     """获取任务配置（网格尺寸和空位矩阵）"""