diff --git a/agv_app/static/js/running.js b/agv_app/static/js/running.js
index b762852..72af4d5 100644
--- a/agv_app/static/js/running.js
+++ b/agv_app/static/js/running.js
@@ -21,8 +21,7 @@ createApp({
       errorMsg: '',
       waitingStep: false,
       stepLabel: '',
-      // 任务步骤控制开关
-      armInitEnabled: true,
+      // 任务步骤控制开关（机械臂初始化并入AGV移动）
       agvMoveEnabled: true,
       qrScanEnabled: true,
       frontPhotoEnabled: true,
@@ -121,7 +120,6 @@ createApp({
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({
-          arm_init: this.armInitEnabled,
           agv_move: this.agvMoveEnabled,
           qr_scan: this.qrScanEnabled,
           front_photo: this.frontPhotoEnabled,
diff --git a/agv_app/templates/running.html b/agv_app/templates/running.html
index 6511cfc..a5c9fc0 100644
--- a/agv_app/templates/running.html
+++ b/agv_app/templates/running.html
@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>运行监控 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260527a">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260527b">
 </head>
 <body>
   <div id="app">
@@ -53,21 +53,13 @@
         <h2>🎛️ 任务步骤控制</h2>
         <p class="hint" style="margin-bottom:12px">关闭的步骤将在本次任务中跳过</p>
         <div class="toggle-grid">
-          <div class="toggle-item">
-            <label class="toggle-switch">
-              <input type="checkbox" v-model="armInitEnabled">
-              <span class="toggle-slider"></span>
-            </label>
-            <span class="toggle-label">🦾 机械臂位置初始化</span>
-            <span class="toggle-hint">移动到每个点位前恢复初始姿态</span>
-          </div>
           <div class="toggle-item">
             <label class="toggle-switch">
               <input type="checkbox" v-model="agvMoveEnabled">
               <span class="toggle-slider"></span>
             </label>
             <span class="toggle-label">🚗 AGV移动</span>
-            <span class="toggle-hint">按之字形路线移动到各点位</span>
+            <span class="toggle-hint">含机械臂初始化，按之字形路线移动到各点位</span>
           </div>
           <div class="toggle-item">
             <label class="toggle-switch">
@@ -122,8 +114,8 @@
       </section>
 
       <!-- 实时日志 -->
-      <section class="card" v-if="missionState === 'running' || missionState === 'waiting_qr'">
-        <h2>📜 实时日志</h2>
+      <section class="card">
+        <h2>📜 任务日志</h2>
         <div class="log-box" ref="logBox">
           <div v-for="(log, i) in logs" :key="i" class="log-line">[[ log ]]</div>
           <div v-if="logs.length === 0" class="log-empty">等待任务开始...</div>
@@ -197,6 +189,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js"></script>
-  <script src="/static/js/running.js?v=20260527a"></script>
+  <script src="/static/js/running.js?v=20260527b"></script>
 </body>
 </html>
\ No newline at end of file
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
index 9afaffc..6181a5d 100644
--- a/agv_app/utils/mission_executor.py
+++ b/agv_app/utils/mission_executor.py
@@ -23,6 +23,8 @@ import requests
 import cv2
 import numpy as np
 
+from utils.nav2_navigator import Nav2Navigator, Nav2Status
+
 logger = logging.getLogger(__name__)
 
 ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
@@ -102,6 +104,9 @@ class MissionExecutorV3:
             baudrate=config.get("baudrate", 1000000)
         )
 
+        # Nav2 导航器（直接使用 rclpy BasicNavigator API，比 subprocess 更可靠）
+        self._nav = Nav2Navigator()
+
     # ==================== 连接 ====================
 
     def connect_all(self) -> Dict[str, bool]:
@@ -204,10 +209,13 @@ class MissionExecutorV3:
                 options = {}
             opt_arm_init = options.get("arm_init", True)
             opt_agv_move = options.get("agv_move", True)
+            # 机械臂初始化并入 AGV 移动：只要开移动，就先初始化机械臂
+            if opt_agv_move:
+                opt_arm_init = True
             opt_qr_scan = options.get("qr_scan", True)
             opt_front_photo = options.get("front_photo", True)
             opt_back_photo = options.get("back_photo", True)
-            self._log(f"⚙️ 任务步骤: arm_init={opt_arm_init}, agv_move={opt_agv_move}, "
+            self._log(f"⚙️ 任务步骤: agv_move={opt_agv_move}, "
                         f"qr_scan={opt_qr_scan}, front={opt_front_photo}, back={opt_back_photo}")
 
             # 机械臂初始姿态（AGV 移动前恢复）
@@ -228,10 +236,11 @@ class MissionExecutorV3:
                 # 恢复机械臂初始姿态
                 if opt_arm_init and has_arm_pose:
                     self._log("  🦾 恢复机械臂初始姿态")
-                    self.arm_client.set_angles(arm_initial_pose, speed=500)
-                    time.sleep(2)
-                elif not opt_arm_init:
-                    self._log("  ⏭️ 跳过机械臂位置初始化")
+                    try:
+                        self.arm_client.set_angles(arm_initial_pose, speed=500)
+                        time.sleep(2)
+                    except Exception as e:
+                        self._log(f"  ⚠️ 机械臂初始化失败: {e}")
 
                 # 更新任务状态 → 正面开始
                 task = self._get_task(r, c)
@@ -300,6 +309,14 @@ class MissionExecutorV3:
                 self._step(f"机器 {rl}-{cl} 背面")
 
                 # 导航到背面点位
+                # 导航到背面点位之前：恢复机械臂初始姿态
+                if opt_agv_move and has_arm_pose:
+                    self._log("  🦾 恢复机械臂初始姿态（背面移动前）")
+                    try:
+                        self.arm_client.set_angles(arm_initial_pose, speed=500)
+                        time.sleep(2)
+                    except Exception as e:
+                        self._log(f"  ⚠️ 机械臂初始化失败: {e}")
                 if opt_agv_move:
                     back_pt = self._find_point(positions, r + 1, c, "back")
                     if back_pt and self._has_coords(back_pt):
@@ -468,37 +485,30 @@ class MissionExecutorV3:
     # ==================== 二维码扫描 ====================
 
     def _scan_qr_with_poses(self, qr_configs: list) -> Optional[str]:
-        """用二维码配置中的姿态依次尝试"""
+        """用二维码配置中的姿态依次尝试，逐一调整姿态+等2秒+扫码，全部失败才弹框"""
         if not qr_configs:
             self._log(f"  ⚠️ 无二维码配置")
             return self._request_manual_qr()
-
         self._log(f"  🔍 尝试 {len(qr_configs)} 个二维码姿态...")
         for i, qc in enumerate(qr_configs):
             if self._stop.is_set():
                 return None
             self._wait_pause()
-
             angles = qc.get("joint_angles", [])
             if not angles or len(angles) < 6:
                 continue
-
             name = qc.get("name", f"姿态{i+1}")
             self._log(f"  [{i+1}/{len(qr_configs)}] {name}")
-
-            # 调整机械臂
+            # 调整机械臂姿态
             if self.arm_client:
                 self.arm_client.set_angles(angles, speed=500)
-                time.sleep(QR_POSE_WAIT)
-
-            # 扫码
+                time.sleep(2)  # 等机械臂稳定 + 摄像头图像稳定
+            # 读取摄像头并扫码
             qr = self._decode_qr_from_arm()
             if qr:
                 self._log(f"  ✅ 识别成功: {qr}")
                 return qr
-
-            time.sleep(0.3)
-
+            self._log(f"  ❌ {name} 未识别到二维码")
         self._log(f"  ⚠️ 全部 {len(qr_configs)} 个姿态均未识别到二维码")
         return self._request_manual_qr()
 
@@ -780,72 +790,15 @@ class MissionExecutorV3:
 
     def _nav2_go_to_point(self, x: float, y: float, yaw: float = 0.0,
                           timeout_sec: float = 120.0) -> bool:
-        if not self._nav2_check_available():
-            logger.error("Nav2 action server 不可用")
-            return False
-
-        qz = math.sin(yaw / 2.0)
-        qw = math.cos(yaw / 2.0)
-
-        pose_yaml = (
-            f"pose:\n"
-            f"  header:\n"
-            f"    stamp:\n"
-            f"      sec: 0\n"
-            f"      nanosec: 0\n"
-            f"    frame_id: 'map'\n"
-            f"  pose:\n"
-            f"    position:\n"
-            f"      x: {x}\n"
-            f"      y: {y}\n"
-            f"      z: 0.0\n"
-            f"    orientation:\n"
-            f"      x: 0.0\n"
-            f"      y: 0.0\n"
-            f"      z: {qz}\n"
-            f"      w: {qw}"
-        )
-
-        cmd = (
-            f"ros2 action send_goal /navigate_to_pose "
-            f"nav2_msgs/action/NavigateToPose "
-            f"'{pose_yaml}' --feedback"
-        )
-        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
-
+        """使用 Nav2Navigator 直接发送导航目标（blocking 模式，等待完成）"""
         try:
-            process = subprocess.Popen(
-                full_cmd, shell=True,
-                stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
-            )
-            succeeded = False
-            elapsed = 0.0
-            while elapsed < timeout_sec:
-                import select
-                reads = [process.stdout]
-                ready, _, _ = select.select(reads, [], [], 1.0)
-                elapsed += 1.0
-                if process.stdout in ready:
-                    line = process.stdout.readline()
-                    if not line:
-                        break
-                    ls = line.strip()
-                    if "succeeded" in ls.lower():
-                        succeeded = True
-                        break
-                    elif "failed" in ls.lower() or "aborted" in ls.lower():
-                        break
-                    elif "canceled" in ls.lower() or "cancelled" in ls.lower():
-                        break
-                if process.poll() is not None:
-                    break
-            if process.poll() is None:
-                process.terminate()
-                try:
-                    process.wait(timeout=3)
-                except subprocess.TimeoutExpired:
-                    process.kill()
-            return succeeded
+            logger.info(f"🧭 导航到目标: ({x:.3f}, {y:.3f}), yaw={math.degrees(yaw):.1f}°")
+            ok = self._nav.navigate_to_pose(x, y, yaw, timeout_sec=timeout_sec, blocking=True)
+            if ok:
+                logger.info(f"✅ 导航成功到达 ({x:.3f}, {y:.3f})")
+            else:
+                logger.warning(f"⚠️ 导航失败或超时 ({x:.3f}, {y:.3f})")
+            return ok
         except Exception as e:
             logger.error(f"Nav2 异常: {e}")
             return False
