fix: align modules with physical rover API

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 === 0.1)
+      return command.robot === 'RMC2' && (command.height === 0 || command.height === 0.05)
     case 'gripper':
       return command.robot === 'RMC1' && (command.state === 'open' || command.state === 'closed')
     default:

module4/server/ros_bridge.py

@@ -8,6 +8,7 @@ stderr: diagnostics
 
 import json
 import math
+import os
 import queue
 import sys
 import threading
@@ -81,6 +82,7 @@ class FmsBridge(Node):
             "type": "state",
             "timestamp": int(time.time() * 1000),
             "mode": "ros",
+            "fieldSize": max(2, min(10, int(os.environ.get("MVCH_FIELD_SIZE", "5")))),
             "bridgeOnline": True,
             "bridgeError": None,
             "map": None,
@@ -154,8 +156,20 @@ class FmsBridge(Node):
 
         self.create_subscription(OccupancyGrid, "/map", self.on_map, map_qos)
         self.create_subscription(OccupancyGrid, "/RMC1/map", self.on_map, map_qos)
+        # Первый топик физического RMC2, второй оставлен для Webots.
+        self.create_subscription(
+            String, "/RMC2/camera_bottom/aruco_id", self.on_aruco, sensor_qos
+        )
         self.create_subscription(String, "/RMC2/aruco_id", self.on_aruco, sensor_qos)
-        self.create_subscription(String, "/RMC2/lift_status", self.on_lift_status, 10)
+        lift_qos = QoSProfile(
+            reliability=ReliabilityPolicy.RELIABLE,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=1,
+        )
+        self.create_subscription(
+            String, "/RMC2/lift_status", self.on_lift_status, lift_qos
+        )
         self.lift_publisher = self.create_publisher(Float64, "/RMC2/lift", 10)
         self.gripper_publisher = self.create_publisher(
             JointTrajectory,
@@ -335,7 +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 = 0.1 if float(command.get("height", 0)) >= 0.05 else 0.0
+            height = 0.05 if float(command.get("height", 0)) >= 0.025 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

@@ -5,12 +5,12 @@ 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: 0.1 })).toBe(true)
+    expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.05 })).toBe(true)
     expect(isCommand({ type: 'gripper', robot: 'RMC1', state: 'closed' })).toBe(true)
   })
 
   test('rejects wrong robot tools and non-finite coordinates', () => {
-    expect(isCommand({ type: 'lift', robot: 'RMC1', height: 0.1 })).toBe(false)
+    expect(isCommand({ type: 'lift', robot: 'RMC1', height: 0.05 })).toBe(false)
     expect(isCommand({ type: 'gripper', robot: 'RMC2', state: 'open' })).toBe(false)
     expect(isCommand({ type: 'set_goal', robot: 'RMC1', pose: { x: Number.NaN, y: 0, yaw: 0 } })).toBe(false)
   })
@@ -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: 0.1 })
+    applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.05 })
     applyMockCommand(state, { type: 'emergency', robot: 'RMC2', active: true })
     expect(state.robots.RMC2.velocity.x).toBe(0)
     expect(state.robots.RMC2.liftStatus).toBe('up')

module4/server/state.ts

@@ -22,6 +22,7 @@ export function initialState(mode: 'ros' | 'mock'): FmsState {
     type: 'state',
     timestamp: Date.now(),
     mode,
+    fieldSize: mode === 'mock' ? 6 : 5,
     bridgeOnline: mode === 'mock',
     bridgeError: null,
     map: mockMap,