ywb
8092908f37
新增 nav2_navigator heredoc pipe 方式（避免 bash 单引号转义问题） 新增 /tmp/patch_installed_launch.py（自动给 install 目录下的 launch.py 加 autostart=True）
66 lines
2.0 KiB
Bash
Executable File
66 lines
2.0 KiB
Bash
Executable File
#!/bin/bash
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# AGV 拍摄系统完整启动脚本 - ROS2 + Flask
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# 使用方法: ./start_all.sh
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echo "=== 停止旧进程 ==="
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pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null
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pkill -f "python.*app.py" 2>/dev/null
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sleep 2
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echo "=== 启动 ROS2 Bringup ==="
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# Source ROS2 环境
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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source install/setup.bash
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# 启动 ROS2 bringup (后台运行)
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nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
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ROS2_PID=$!
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echo "ROS2 bringup started, PID: $ROS2_PID"
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# 等待 ROS2 初始化 (AGV节点需要连接串口)
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echo "等待 ROS2 初始化..."
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sleep 5
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# 检查 ROS2 节点是否启动
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if source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && ros2 node list 2>/dev/null | grep -q agv_pro_node; then
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echo "✅ ROS2 AGV 节点已启动"
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else
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echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
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fi
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echo "=== 启动 Nav2 导航 ==="
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source /opt/ros/humble/setup.bash
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cd /home/elephant/agv_pro_ros2
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source install/setup.bash
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# 启动 Nav2 (后台运行)
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nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py > /tmp/ros2_nav2.log 2>&1 &
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NAV2_PID=$!
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echo "Nav2 started, PID: $NAV2_PID"
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sleep 10
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echo "=== 激活 Nav2 Lifecycle ==="
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ros2 lifecycle set /lifecycle_manager_navigation configure 2>&1 | tee -a /tmp/start_all.log
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sleep 3
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ros2 lifecycle set /lifecycle_manager_navigation activate 2>&1 | tee -a /tmp/start_all.log
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sleep 3
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echo "✅ Nav2 导航已启动并激活"
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echo "=== 启动 Flask ==="
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cd /home/elephant/work/agv_app
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nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
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FLASK_PID=$!
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echo "Flask started, PID: $FLASK_PID"
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sleep 2
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echo ""
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echo "=== 启动完成 ==="
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echo "ROS2 bringup log: /tmp/ros2_bringup.log"
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echo "Nav2 log: /tmp/ros2_nav2.log"
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echo "Flask log: /tmp/agv_flask.log"
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echo ""
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echo "检查状态:"
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echo " ros2 node list"
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echo " curl http://localhost:5000/api/status"
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