diff --git a/README.md b/README.md
index 8b37598..1e82e0f 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,49 @@
 Нужен установленный официальный симулятор, ROS 2 Jazzy, `rclpy`, `tf2_ros`.
 Дополнительные pip-пакеты и сборка colcon самого решения не нужны.
 
+### Если ROS2 или симулятор отсутствуют
+
+Штатная площадка должна предоставлять готовые ROS2 Jazzy, Webots и workspace
+симулятора. Сначала попросите эксперта восстановить окружение. Для самостоятельной
+установки нужен Ubuntu 24.04; ROS2 устанавливается по
+[официальной инструкции](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html).
+После подключения ROS-репозитория:
+
+```bash
+sudo apt update
+sudo apt install -y ros-jazzy-desktop ros-jazzy-rmw-fastrtps-cpp \
+  ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-moveit \
+  ros-jazzy-tf2-tools ros-jazzy-cv-bridge ros-jazzy-image-transport \
+  ros-jazzy-webots-ros2 python3-colcon-common-extensions python3-rosdep ros-dev-tools
+```
+
+Webots ставится из [репозитория Cyberbotics](https://cyberbotics.com/doc/guide/installation-procedure):
+
+```bash
+sudo install -d /etc/apt/keyrings
+sudo wget -q -O /etc/apt/keyrings/Cyberbotics.asc https://cyberbotics.com/Cyberbotics.asc
+echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" \
+  | sudo tee /etc/apt/sources.list.d/Cyberbotics.list
+sudo apt update
+sudo apt install -y webots
+```
+
+Исходники официального симулятора:
+
+```bash
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws/src
+git clone https://gitlab.mobird.dev/fms_group/ar_webots_fms_ros2.git
+git clone https://gitlab.mobird.dev/fms_group/ar_arm95_moveit_config.git
+git clone https://gitlab.mobird.dev/fms_group/ar_aruco_detect_ros2.git
+git clone https://gitlab.mobird.dev/fms_group/ar_dual_lidar_merge_ros2.git
+git clone https://gitlab.mobird.dev/fms_group/ar_nav_ros2.git
+cd ~/ros2_ws
+source /opt/ros/jazzy/setup.bash
+rosdep install --from-paths src -y --ignore-src --rosdistro jazzy
+colcon build --symlink-install
+```
+
 Терминал 1 — штатный симулятор (один экземпляр):
 
 ```bash
diff --git a/fast-setup.md b/fast-setup.md
index 678987f..72e1655 100644
--- a/fast-setup.md
+++ b/fast-setup.md
@@ -1,5 +1,5 @@
 sudo apt update
-sudo apt install -y git curl wget unzip xz-utils snapd locales software-properties-common ca-certificates gnupg python3 python3-pip python3-venv python3-dev build-essential openssh-client ffmpeg libgl1 libglib2.0-0 mesa-utils v4l-utils iputils-ping pciutils ubuntu-drivers-common
+sudo apt install -y git curl wget unzip xz-utils snapd ca-certificates python3 python3-pip python3-venv python3-dev build-essential openssh-client ffmpeg libgl1 libglib2.0-0 mesa-utils v4l-utils iputils-ping pciutils
 
 sudo snap install code --classic
 export PATH="/snap/bin:$PATH"
@@ -24,39 +24,7 @@ export NVM_DIR="$HOME/.nvm"
 nvm install --lts
 nvm use --lts
 
-curl -fsSL https://opencode.ai/install | bash
-
-sudo locale-gen en_US en_US.UTF-8
-sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-export LANG=en_US.UTF-8
-sudo add-apt-repository universe -y
-export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F 'tag_name' | awk -F\" '{print $4}')
-curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
-sudo dpkg -i /tmp/ros2-apt-source.deb
-sudo apt update
-sudo apt install -y ros-jazzy-desktop ros-jazzy-rmw-fastrtps-cpp ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-moveit ros-jazzy-tf2-tools ros-jazzy-cv-bridge ros-jazzy-image-transport ros-jazzy-webots-ros2 python3-colcon-common-extensions python3-rosdep ros-dev-tools
-
-sudo install -d /etc/apt/keyrings
-sudo wget -q -O /etc/apt/keyrings/Cyberbotics.asc https://cyberbotics.com/Cyberbotics.asc
-echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" | sudo tee /etc/apt/sources.list.d/Cyberbotics.list
-sudo apt update
-sudo apt install -y webots
-
-if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then sudo rosdep init; fi
-rosdep update
-
-mkdir -p "$HOME/ros2_ws/src"
-cd "$HOME/ros2_ws/src"
-test -d ar_webots_fms_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_webots_fms_ros2.git
-test -d ar_arm95_moveit_config/.git || git clone https://gitlab.mobird.dev/fms_group/ar_arm95_moveit_config.git
-test -d ar_aruco_detect_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_aruco_detect_ros2.git
-test -d ar_dual_lidar_merge_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_dual_lidar_merge_ros2.git
-test -d ar_nav_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_nav_ros2.git
-
-cd "$HOME/ros2_ws"
 source /opt/ros/jazzy/setup.bash
-rosdep install --from-paths src -y --ignore-src --rosdistro jazzy
-colcon build --symlink-install
 source "$HOME/ros2_ws/install/setup.bash"
 export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
@@ -79,7 +47,6 @@ python3 --version
 node --version
 npm --version
 bun --version
-opencode --version
 ros2 --help >/dev/null
 webots --version
 nvidia-smi