From 6431727f4aff0c73da58f582d7614e12b50a45ed Mon Sep 17 00:00:00 2001
From: Songyan Zhang <songyanzhang@SongyandeMacBook-Air.local>
Date: Sun, 26 Apr 2026 20:32:12 +0800
Subject: [PATCH] run_all.sh updated

---
 run_all.sh | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/run_all.sh b/run_all.sh
index f6468d4..c2995af 100755
--- a/run_all.sh
+++ b/run_all.sh
@@ -42,8 +42,6 @@ NO_RVIZ=false
 # 与 --gzweb 同用：只起 gz websocket(9002) 等资源，不起 office 内 npm run dev；页面用镜像内 /opt/gzweb（foundation）
 NO_GZWEB_VITE=false
 
-colcon build
-
 while [[ $# -gt 0 ]]; do
   case "$1" in
     --explore) WITH_EXPLORE=true; shift ;;
@@ -86,6 +84,12 @@ fi
 
 set +u
 source /opt/ros/humble/setup.bash
+
+# 仅在 install 目录缺失时构建（避免每次启动都重复构建，同时修复未 source ROS 环境导致的 ament_cmake 找不到）
+if [[ ! -d "${ROOT}/install" ]]; then
+  colcon build --symlink-install
+fi
+
 source "${ROOT}/install/setup.bash"
 set -u
 export TURTLEBOT3_MODEL="$ROBOT_MODEL"