diff --git a/agv_app/utils/nav2_navigator.py b/agv_app/utils/nav2_navigator.py
index 91470aa..558c78e 100644
--- a/agv_app/utils/nav2_navigator.py
+++ b/agv_app/utils/nav2_navigator.py
@@ -18,7 +18,7 @@ logger = logging.getLogger(__name__)
 
 def _run_ros2_bash(cmd: str, timeout: float = 5.0) -> Tuple[int, str, str]:
     """执行 ros2 命令（直接运行，不二次包装）"""
-    setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
+    setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
     full_cmd = f"bash -l -c '{setup} && {cmd}'"
     try:
         result = subprocess.run(full_cmd, shell=True, capture_output=True, text=True, timeout=timeout)
@@ -100,6 +100,7 @@ class Nav2Navigator:
             "#!/bin/bash\n"
             "source /opt/ros/humble/setup.bash 2>/dev/null\n"
             "source /home/elephant/agv_pro_ros2/install/setup.bash 2>/dev/null\n"
+            "export ROS_DOMAIN_ID=1\n"
             "ros2 action list 2>&1\n"
         )
         script_file = "/tmp/nav2_check.sh"
@@ -200,7 +201,7 @@ class Nav2Navigator:
 
             # 使用 pipe 方式运行导航
             # 通过 subprocess.Popen + stdin heredoc 避免所有引号转义问题
-            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
+            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
             qz = math.sin(yaw / 2.0)
             qw = math.cos(yaw / 2.0)
 
@@ -449,7 +450,7 @@ class Nav2Navigator:
     def _nav_thread_func_multi(self, poses: List[Tuple[float, float, float]], timeout_per_pose: float):
         """多路径点导航线程"""
         try:
-            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
+            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
 
             # 构建 poses heredoc
             poses_lines = []
@@ -556,7 +557,7 @@ class Nav2Navigator:
         """取消当前导航"""
         if self.status == Nav2Status.NAVIGATING:
             self._cancel_event.set()
-            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
+            setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
             cancel_cmd = f'bash -l -c \'{setup} && ros2 action cancel /navigate_to_pose 2>/dev/null || ros2 action cancel /navigate_through_poses 2>/dev/null || true\''
             subprocess.run(cancel_cmd, shell=True, timeout=3)
             self.status = Nav2Status.CANCELLED