From f2130acfaa5f219d77d028d1db4e4cc6b144e4e5 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sat, 16 May 2026 10:49:31 +0800
Subject: [PATCH] =?UTF-8?q?start=5Fall.sh:=20=E5=A2=9E=E5=8A=A0=20Nav2=20?=
 =?UTF-8?q?=E5=AF=BC=E8=88=AA=E5=90=AF=E5=8A=A8=E6=AD=A5=E9=AA=A4?=
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---
 agv_app/start_all.sh | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/agv_app/start_all.sh b/agv_app/start_all.sh
index 9ee8f09..b42cade 100755
--- a/agv_app/start_all.sh
+++ b/agv_app/start_all.sh
@@ -29,6 +29,19 @@ else
     echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
 fi
 
+echo "=== 启动 Nav2 导航 ==="
+source /opt/ros/humble/setup.bash
+cd /home/elephant/agv_pro_ros2
+source install/setup.bash
+
+# 启动 Nav2 (后台运行)
+nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_nav2.log 2>&1 &
+NAV2_PID=$!
+echo "Nav2 started, PID: $NAV2_PID"
+
+sleep 5
+echo "✅ Nav2 导航已启动"
+
 echo "=== 启动 Flask ==="
 cd /home/elephant/work/agv_app
 nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
@@ -38,7 +51,8 @@ echo "Flask started, PID: $FLASK_PID"
 sleep 2
 echo ""
 echo "=== 启动完成 ==="
-echo "ROS2 log: /tmp/ros2_bringup.log"
+echo "ROS2 bringup log: /tmp/ros2_bringup.log"
+echo "Nav2 log: /tmp/ros2_nav2.log"
 echo "Flask log: /tmp/agv_flask.log"
 echo ""
 echo "检查状态:"