fix ROS profiles and simulator reliability

module4/README.md

@@ -105,7 +105,12 @@ WebSocket и компоновки интерфейса.
 `/RMC2/camera_bottom/aruco_id` (и старый `/RMC2/aruco_id` для Webots), а также
 `/RMC2/lift_status`. По документации реального RMC2 статус лифта имеет QoS
 `Transient Local` и значения `lowered`, `moving`, `raised`; команды — `0.0` вниз
-и `0.05` м вверх. Мост настроен именно так.
+и `0.05` м вверх. В Webots верхнее положение — `0.1` м, поэтому это значение
+используется по умолчанию. Для физического RMC2 запускайте мост так:
+
+```bash
+MVCH_LIFT_UP_HEIGHT=0.05 bun run start
+```
 
 Симулятор из открытого пакета не публикует напряжение аккумуляторов. Мост уже
 подписан на `/RMC*/battery_state` (`sensor_msgs/BatteryState`) и

module4/server/commands.ts

@@ -33,7 +33,7 @@ export function isCommand(value: unknown): value is Command {
     case 'set_goal':
       return isPose(command.pose)
     case 'lift':
-      return command.robot === 'RMC2' && (command.height === 0 || command.height === 0.05)
+      return command.robot === 'RMC2' && (command.height === 0 || command.height === 0.05 || command.height === 0.1)
     case 'gripper':
       return command.robot === 'RMC1' && (command.state === 'open' || command.state === 'closed')
     default:

module4/server/ros_bridge.py

@@ -1,11 +1,4 @@
 #!/usr/bin/env python3
-"""Small JSON <-> ROS 2 bridge for the module G web interface.
-
-stdin: one JSON command per line
-stdout: one JSON state per line (only machine-readable data)
-stderr: diagnostics
-"""
-
 import json
 import math
 import os
@@ -35,6 +28,9 @@ except ImportError:
 
 ROBOTS = ("RMC1", "RMC2")
 MANUAL_TIMEOUT = 0.35
+LIFT_UP_HEIGHT = float(os.environ.get("MVCH_LIFT_UP_HEIGHT", "0.1"))
+if LIFT_UP_HEIGHT not in (0.05, 0.1):
+    raise SystemExit("MVCH_LIFT_UP_HEIGHT должен быть 0.05 или 0.1")
 
 
 def empty_robot():
@@ -163,7 +159,11 @@ class FmsBridge(Node):
         self.create_subscription(String, "/RMC2/aruco_id", self.on_aruco, sensor_qos)
         lift_qos = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
-            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            durability=(
+                DurabilityPolicy.TRANSIENT_LOCAL
+                if LIFT_UP_HEIGHT == 0.05
+                else DurabilityPolicy.VOLATILE
+            ),
             history=HistoryPolicy.KEEP_LAST,
             depth=1,
         )
@@ -349,7 +349,7 @@ class FmsBridge(Node):
                 self.state["robots"][robot]["goal"] = None
                 self.state["robots"][robot]["plan"] = []
         elif kind == "lift" and robot == "RMC2" and not emergency:
-            height = 0.05 if float(command.get("height", 0)) >= 0.025 else 0.0
+            height = LIFT_UP_HEIGHT if float(command.get("height", 0)) > 0 else 0.0
             self.lift_publisher.publish(Float64(data=height))
             with self.lock:
                 self.state["robots"][robot]["liftStatus"] = "command: up" if height else "command: down"

module4/server/state.test.ts

@@ -5,7 +5,7 @@ import { applyMockCommand, initialState, tickMock } from './state'
 describe('command validation', () => {
   test('accepts valid commands', () => {
     expect(isCommand({ type: 'manual', robot: 'RMC1', x: 0.4, y: 0.2, yaw: 0 })).toBe(true)
-    expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.05 })).toBe(true)
+    expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.1 })).toBe(true)
     expect(isCommand({ type: 'gripper', robot: 'RMC1', state: 'closed' })).toBe(true)
   })
 
@@ -23,7 +23,7 @@ describe('mock state', () => {
     tickMock(state, 1)
     expect(state.robots.RMC2.pose.x).toBeCloseTo(0.5)
 
-    applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.05 })
+    applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.1 })
     applyMockCommand(state, { type: 'emergency', robot: 'RMC2', active: true })
     expect(state.robots.RMC2.velocity.x).toBe(0)
     expect(state.robots.RMC2.liftStatus).toBe('up')

module4/src/App.tsx

@@ -387,7 +387,7 @@ export default function App() {
             {selected === 'RMC1' ? (
               <div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'open' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Открыть схват</button><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'closed' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Закрыть схват</button></div>
             ) : (
-              <div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0.05 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Поднять лифт</button><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
+              <div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0.1 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Поднять лифт</button><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
             )}
           </Card>
         </aside>

module4/src/types.ts

@@ -45,5 +45,5 @@ export type Command =
   | { type: 'set_pose'; robot: RobotId; pose: Pose }
   | { type: 'set_goal'; robot: RobotId; pose: Pose }
   | { type: 'cancel_goal'; robot: RobotId }
-  | { type: 'lift'; robot: 'RMC2'; height: 0 | 0.05 }
+  | { type: 'lift'; robot: 'RMC2'; height: 0 | 0.05 | 0.1 }
   | { type: 'gripper'; robot: 'RMC1'; state: 'open' | 'closed' }