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1429442dbd3c8e50c3e17c11d766faf31db8073a
smart-inspection/scripts/start_all.sh
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FaulknerWu 1429442dbd Rename customs-tablet-frontend to public-frontend and add new features 
- Rename customs-tablet-frontend/ to public-frontend/ for broader scope
- Add new pages: customs, inspection with camera integration
- Add new services: apiClient.ts, backendApi.ts, normalizers.ts
- Add CameraFrame component for real-time video streaming
- Add scan_fixer module with clock_publisher and timestamp fix utilities
- Update startup scripts to support new frontend structure
- Update arm_server configuration and service files

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
2026-06-22 10:18:20 +08:00

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#!/bin/bash
# ============================================================
# Robot AGV 全量启动脚本 v4.0
# 修复：
# - v4.0: 彻底杀死 ros2 daemon 进程 + 启动前进程数量检查
# - v3.0: 彻底清理 FastRTPS 共享内存文件（永久修复 DDS 通信问题）
# - v2.7: 添加 ROS_DOMAIN_ID 环境变量传递
# - v2.6: 清理 scan_fixer lock 文件防残留
# ============================================================
set -e
# ---- 可配置项（环境变量覆盖默认值） ----
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$PROJECT_DIR}"
AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
ROS_DISTRO="${ROS_DISTRO:-humble}"
ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
LOG_DIR="${LOG_DIR:-/tmp}"
LOCK_DIR="${LOCK_DIR:-/tmp}"
FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
ROS_DOMAIN_ID_VAL=1
BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
NAV2_LOG="$LOG_DIR/ros2_nav2.log"
CLOCK_LOG="$LOG_DIR/clock_publisher.log"
SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
FLASK_LOG="$LOG_DIR/agv_flask.log"
mkdir -p "$LOG_DIR"
echo "=========================================="
echo " Robot AGV 全量启动 v4.0"
echo "=========================================="
echo ""
# ---------- 1. 清理旧进程 + FastRTPS 共享内存 ----------
echo "[1/8] 清理旧进程和共享内存..."
# 杀掉所有相关进程（先软杀，再硬杀确保干净）
pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
pkill -f "agv_pro_node" 2>/dev/null || true
pkill -f "lslidar_driver_node" 2>/dev/null || true
pkill -f "component_container" 2>/dev/null || true
pkill -f "robot_state_publisher" 2>/dev/null || true
pkill -f "fix_scan_timestamp" 2>/dev/null || true
pkill -f "clock_publisher" 2>/dev/null || true
pkill -f "python.*app.py" 2>/dev/null || true
pkill -f "uv run .*python app.py" 2>/dev/null || true
sleep 2
# 【关键】硬杀确保干净
echo " 硬杀残留进程..."
pkill -9 -f "agv_pro_node" 2>/dev/null || true
pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
pkill -9 -f "component_container" 2>/dev/null || true
pkill -9 -f "clock_publisher" 2>/dev/null || true
pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
pkill -9 -f "app.py" 2>/dev/null || true
sleep 1
# 【关键】杀死 ros2 daemon 进程本身（不是只 stop，而是杀进程）
echo " 重置 ros2 daemon..."
pkill -f "ros2-daemon" 2>/dev/null || true
pkill -9 -f "ros2-daemon" 2>/dev/null || true
sleep 2
# 【关键】清理 FastRTPS 共享内存文件（杀进程后立即清理）
echo " 清理 FastRTPS 共享内存文件..."
FASTRTPS_COUNT=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
if [ "$FASTRTPS_COUNT" -gt 0 ]; then
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
echo " 已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
else
echo " 无 FastRTPS 文件残留"
fi
# 清理 scan_fixer 锁文件
rm -f "$LOCK_DIR/scan_fixer.lock"
# 【关键】验证进程已全部停止
echo " 验证进程停止..."
PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
echo " 残留进程数: $PROC_COUNT"
if [ "$PROC_COUNT" -gt 0 ]; then
echo " ⚠️ 仍有进程残留，强制终止..."
pkill -9 -f "agv_pro_node" 2>/dev/null || true
pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
pkill -9 -f "component_container" 2>/dev/null || true
pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
pkill -9 -f "app.py" 2>/dev/null || true
sleep 2
PROC_COUNT2=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
echo " 清理后残留: $PROC_COUNT2"
fi
echo " ✅ 清理完成"
# ---------- 2. 启动 ros2 daemon ----------
echo "[2/8] 启动 ros2 daemon..."
source "$ROS_SETUP" 2>/dev/null || true
# 再次确保没有残留共享内存（启动 daemon 前）
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
# 使用 bash -c 确保环境变量正确传递
nohup bash -c "source \"$ROS_SETUP\" && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
sleep 4
# 验证 daemon 是否就绪（用简单的 topic list 测试）
DAEMON_OK=0
for i in $(seq 1 5); do
DAEMON_TOPICS=$(source "$ROS_SETUP" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1 | wc -l || echo 0)
if [ "$DAEMON_TOPICS" -gt 0 ]; then
DAEMON_OK=1
echo " ✅ ros2 daemon 就绪"
break
fi
sleep 2
done
if [ "$DAEMON_OK" -eq 0 ]; then
echo " ⚠️ ros2 daemon 可能有问题，继续尝试启动组件..."
fi
# ---------- 3. 启动 bringup (含激光雷达) ----------
echo "[3/8] 启动 AGV Bringup..."
source "$ROS_SETUP" 2>/dev/null || true
# 【关键】启动前最后确认没有残留共享内存
rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source "$ROS_WORKSPACE_SETUP"
nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" > "$BRINGUP_LOG" 2>&1 &
BRINGUP_PID=$!
echo " bringup PID: $BRINGUP_PID"
echo " 等待 bringup 就绪..."
BRINGUP_OK=0
for i in $(seq 1 20); do
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
echo " ✅ bringup 已就绪 (${i}x2秒)"
BRINGUP_OK=1
break
fi
sleep 2
done
if [ "$BRINGUP_OK" -eq 0 ]; then
echo " ⚠️ bringup 未检测到 /odom，继续启动后续组件..."
tail -5 "$BRINGUP_LOG" 2>/dev/null || true
fi
# ---------- 3.5 启动系统时钟发布器 ----------
echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
> "$CLOCK_LOG" 2>&1 &
CLOCK_PID=$!
echo " clock_publisher PID: $CLOCK_PID"
sleep 2
# 验证 /clock 话题
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/clock'; then
echo " ✅ /clock 已上线"
else
echo " ⚠️ /clock 未上线，检查日志："
tail -5 "$CLOCK_LOG" 2>/dev/null || true
fi
# ---------- 4. 启动激光时间戳修正节点 ----------
echo "[4/8] 启动激光时间戳修正节点..."
# 确保 /scan 存在
SCAN_OK=0
for i in $(seq 1 10); do
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
echo " /scan 话题已上线"
SCAN_OK=1
break
fi
sleep 2
done
if [ "$SCAN_OK" -eq 0 ]; then
echo " ⚠️ /scan 未上线，检查 bringup 日志"
fi
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
> "$SCAN_FIXER_LOG" 2>&1 &
FIXER_PID=$!
echo " fix_scan_timestamp PID: $FIXER_PID"
sleep 5
# 验证 fixer 进程和 scan_corrected
FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
if [ "$FIXER_COUNT" -gt 1 ]; then
echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
pkill -f "fix_scan_timestamp" 2>/dev/null || true
pkill -f "clock_publisher" 2>/dev/null || true
sleep 2
rm -f "$LOCK_DIR/scan_fixer.lock"
nohup bash -c "source \"$ROS_SETUP\" && \
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 \"$SCAN_FIXER_DIR/$FIXER_SCRIPT\"" \
> "$SCAN_FIXER_LOG" 2>&1 &
FIXER_PID=$!
sleep 3
fi
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
echo " ✅ /scan_corrected 已上线"
else
echo " ⚠️ /scan_corrected 未上线，检查日志："
tail -5 "$SCAN_FIXER_LOG" 2>/dev/null || true
fi
# ---------- 5. 启动 Nav2 ----------
echo "[5/8] 启动 Nav2 导航..."
source "$ROS_SETUP" 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source "$ROS_WORKSPACE_SETUP"
nohup bash -c "source \"$ROS_SETUP\" && \
source \"$ROS_WORKSPACE_SETUP\" && \
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
autostart:=True" > "$NAV2_LOG" 2>&1 &
NAV2_PID=$!
echo " Nav2 PID: $NAV2_PID"
sleep 12
echo " 等待 Nav2 节点就绪..."
NAV2_OK=0
for i in $(seq 1 15); do
NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
if [ "$NODES" -ge 3 ] 2>/dev/null; then
echo " ✅ Nav2 节点已就绪 ($NODES 个)"
NAV2_OK=1
break
fi
sleep 3
done
if [ "$NAV2_OK" -eq 0 ]; then
echo " ⚠️ Nav2 节点未完全就绪，继续..."
fi
# ---------- 6. 设置精度参数 ----------
echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
source "$ROS_SETUP" 2>/dev/null || true
cd "$AGV_ROS2_DIR"
source "$ROS_WORKSPACE_SETUP"
for NODE in /controller_server /bt_navigator /planner_server; do
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
done
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
echo " ✅ 精度参数已设置"
# ---------- 7. 启动 Flask ----------
echo "[7/8] 启动 Flask API..."
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL
cd "$AGV_APP_DIR"
nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
FLASK_PID=$!
echo " Flask PID: $FLASK_PID"
sleep 4
# ---------- 8. 最终全面验证 ----------
echo ""
echo "=========================================="
echo " 系统全面验证"
echo "=========================================="
# 8a. 验证 ros2 topic list（核心指标）
echo ""
echo "验证 ros2 topic list..."
TOPIC_COUNT=$(source "$ROS_SETUP" && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null | wc -l || echo 0)
echo " 话题数量: $TOPIC_COUNT"
if [ "$TOPIC_COUNT" -gt 10 ]; then
echo " ✅ ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
else
echo " ❌ ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
echo " 手动执行: rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_* && ros2 daemon stop && ros2 daemon start"
fi
# 8b. 验证关键话题
echo ""
echo "验证关键话题..."
for TOPIC in /odom /scan /cmd_vel /tf; do
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q "$TOPIC"; then
echo " ✅ $TOPIC"
else
echo " ⚠️ $TOPIC 未找到"
fi
done
# 8c. 验证进程数量（确保没有重复启动）
echo ""
echo "验证进程数量..."
BRINGUP_PROCS=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node' | grep -v grep | wc -l || echo 0)
echo " AGV 核心进程: $BRINGUP_PROCS (应为 2)"
if [ "$BRINGUP_PROCS" -eq 2 ]; then
echo " ✅ 进程数量正常（无重复）"
elif [ "$BRINGUP_PROCS" -gt 2 ]; then
echo " ⚠️ 发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
else
echo " ⚠️ 进程数量异常"
fi
# 8d. FastRTPS 共享内存状态
echo ""
echo "FastRTPS 共享内存状态:"
FASTRTPS_NEW=$(ls "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null | wc -l || echo 0)
echo " 当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
# 8e. Flask API 测试
echo ""
echo "验证 Flask API..."
FLASK_RUNNING=$(pgrep -f "app.py" | wc -l || echo 0)
if [ "$FLASK_RUNNING" -gt 0 ]; then
echo " ✅ Flask 进程运行中"
else
echo " ❌ Flask 未运行"
fi
# ---------- 完成 ----------
echo ""
echo "=========================================="
echo " ✅ 启动完成"
echo "=========================================="
echo ""
echo " 进程状态:"
for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
NAME="${PROC%%:*}"
PID="${PROC##*:}"
STATUS=$(ps aux | grep -w "$PID" | grep -v grep | awk '{print "运行中"}' || echo '已退出')
echo " $NAME : $STATUS"
done
echo ""
echo " 日志文件:"
echo " bringup : $BRINGUP_LOG"
echo " Nav2 : $NAV2_LOG"
echo " fixer : $SCAN_FIXER_LOG"
echo " Flask : $FLASK_LOG"
echo ""
echo " 如果仍有问题，请依次执行："
echo " 1. ./scripts/stop_all.sh"
echo " 2. rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
echo " 3. ./scripts/start_all.sh"
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