feat: 初始化 Go2 导航相关代码与配置

go2_autonomous_navigation/patrol_mission.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+# 启动巡检脚本
+
+echo ==========================================
+echo GO2 机器狗巡检启动脚本
+echo ==========================================
+
+# Source 环境
+source /opt/ros/humble/setup.bash
+source ~/unitree_ros2/cyclonedds_ws/install/setup.bash
+source ~/go2_robot_system/install/setup.bash
+
+# 检查航点文件
+ROUTE_FILE=~/go2_robot_system/config/ros2_patrol_routes/default.yaml
+
+if [ ! -f "$ROUTE_FILE" ]; then
+    echo "❌ 错误：航点文件不存在: $ROUTE_FILE"
+    exit 1
+fi
+
+# 显示航点信息
+echo ""
+echo "📍 航点文件: $ROUTE_FILE"
+echo ""
+echo "航点列表:"
+grep -A 5 "name:" "$ROUTE_FILE" | grep -E "(name|x:|y:|yaw:)" | head -20
+
+# 询问是否开始
+echo ""
+read -p "是否开始巡检？(y/n): " -n 1 -r
+echo
+if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+    echo "已取消"
+    exit 0
+fi
+
+echo ""
+echo "🚀 启动巡检节点..."
+echo ""
+
+# 启动巡检
+ros2 run go2_patrol patrol_executor_node --ros-args -p autostart:=true