可导航

2026-05-16 22:58:04 +08:00
parent 22d38957f1
commit e6a8d495f7
5 changed files with 272 additions and 57 deletions
@@ -28,7 +28,7 @@ class AGVController:

    def _run_ros2_cmd(self, cmd: str, timeout: float = 5.0) -> tuple:
        """执行 ros2 命令"""
-        full_cmd = f"bash -l -c 'source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && {cmd}'"
+        full_cmd = f"bash -c 'source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=0 && {cmd}'"
        try:
            result = subprocess.run(
                full_cmd,