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fix: nav2_navigator.py ROS_DOMAIN_ID=1 in script files and all _run_ros2_bash calls

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ywb
2026-05-17 09:38:11 +08:00
parent 6a5fce819f
commit c3a5af8045
1 changed files with 5 additions and 4 deletions
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agv_app/utils/nav2_navigator.py
+5 -4
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@@ -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