feat: 添加一键启动脚本并更新项目配置

- 添加 start_all.sh 一键启动脚本，支持启动llama-server和FastAPI服务
- 修改启动脚本使用venv虚拟环境替代conda环境
- 更新README.md，添加一键启动脚本使用说明
- 更新py_tree_generator.py，添加final_prompt返回字段
- 禁用Qwen3模型的思考功能
- 添加RAG检索结果的终端打印
- 移除ROS2相关代码（ros2_client.py已删除）

backend_service/src/main.py

@@ -3,13 +3,13 @@ import os
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.staticfiles import StaticFiles
 import logging
-import threading
-import rclpy
+# import threading  # ROS2相关，已注释
+# import rclpy  # ROS2相关，已注释
 
 from .models import GeneratePlanRequest, ExecuteMissionRequest
 from .websocket_manager import websocket_manager
 from .py_tree_generator import py_tree_generator
-from .ros2_client import MissionActionClient
+# from .ros2_client import MissionActionClient  # ROS2相关，已注释
 
 # --- Application Setup ---
 app = FastAPI(
@@ -23,14 +23,15 @@ static_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'gene
 app.mount("/static", StaticFiles(directory=static_dir), name="static")
 
 # --- ROS2 Node and Client Initialization ---
-rclpy.init()
-ros2_client = MissionActionClient()
+# ROS2相关代码已注释，项目已与ROS2解耦
+# rclpy.init()
+# ros2_client = MissionActionClient()
 
-def run_ros2_node():
-    """Spins the ROS2 node in a dedicated thread."""
-    logging.info("Starting to spin ROS2 node...")
-    rclpy.spin(ros2_client)
-    logging.info("ROS2 node has stopped spinning.")
+# def run_ros2_node():
+#     """Spins the ROS2 node in a dedicated thread."""
+#     logging.info("Starting to spin ROS2 node...")
+#     rclpy.spin(ros2_client)
+#     logging.info("ROS2 node has stopped spinning.")
 
 # --- API Endpoints ---
 
@@ -49,9 +50,12 @@ async def generate_plan_endpoint(request: GeneratePlanRequest):
 async def execute_mission_endpoint(request: ExecuteMissionRequest):
     """
     Receives a `py_tree.json` and sends it to the drone for execution.
+    ROS2相关功能已注释，项目已与ROS2解耦。
     """
-    ros2_client.send_goal(request.py_tree)
-    return {"status": "execution_started"}
+    # ROS2相关代码已注释
+    # ros2_client.send_goal(request.py_tree)
+    logging.warning("execute_mission endpoint called but ROS2 is disabled. Mission execution is not available.")
+    return {"status": "execution_disabled", "message": "ROS2 integration is disabled. Mission execution is not available."}
 
 @app.websocket("/ws/status")
 async def websocket_endpoint(websocket: WebSocket):
@@ -73,21 +77,23 @@ async def websocket_endpoint(websocket: WebSocket):
 async def startup_event():
     """
     On startup, get the current asyncio event loop and pass it to the websocket manager.
-    Also, start the ROS2 node in a background thread.
+    ROS2相关功能已注释，项目已与ROS2解耦。
     """
     # Configure WebSocket Manager
     loop = asyncio.get_running_loop()
     websocket_manager.set_loop(loop)
     logging.info("WebSocket event loop configured.")
 
+    # ROS2相关代码已注释
     # Start ROS2 node in a background thread
-    ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
-    ros2_thread.start()
-    logging.info("ROS2 node thread started.")
+    # ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
+    # ros2_thread.start()
+    # logging.info("ROS2 node thread started.")
 
 @app.on_event("shutdown")
 async def shutdown_event():
     logging.info("Backend service shutting down.")
-    ros2_client.destroy_node()
-    rclpy.shutdown()
-    logging.info("ROS2 node shut down successfully.")
+    # ROS2相关代码已注释
+    # ros2_client.destroy_node()
+    # rclpy.shutdown()
+    # logging.info("ROS2 node shut down successfully.")