增加环绕侦察场景适配

start_all.sh

@@ -295,10 +295,9 @@ start_services() {
         if [ -f '${ros2_setup}' ]; then
             source '${ros2_setup}'
         fi
-        # 激活venv虚拟环境
-        source '${venv_path_expanded}/bin/activate' && \
+        # 直接使用虚拟环境中的Python启动
         cd '${PROJECT_ROOT}/backend_service' && \
-        uvicorn src.main:app --host 0.0.0.0 --port ${API_PORT}
+        '${venv_path_expanded}/bin/python' -m uvicorn src.main:app --host 0.0.0.0 --port ${API_PORT}
     " > "${LOG_DIR}/fastapi.log" 2>&1 &
     local api_pid=$!
     echo $api_pid >> "${PID_FILE}"