docs: add physical rover setup reference

basic/lift_rmc2.py

@@ -6,6 +6,7 @@ import time
 
 import rclpy
 from rclpy.node import Node
+from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Float64, String
 
 
@@ -17,29 +18,48 @@ def main():
 
     rclpy.init()
     node = Node("mvch_basic_lift")
-    publisher = node.create_publisher(Float64, "/RMC2/lift", 10)
-    statuses = []
-    node.create_subscription(String, "/RMC2/lift_status", lambda msg: statuses.append(msg.data), 10)
+    exit_message = None
+    try:
+        publisher = node.create_publisher(Float64, "/RMC2/lift", 10)
+        statuses = []
+        status_qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.RELIABLE,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+        )
+        node.create_subscription(
+            String,
+            "/RMC2/lift_status",
+            lambda msg: statuses.append(msg.data),
+            status_qos,
+        )
 
-    height = 0.1 if args.state == "up" else 0.0
-    print(f"RMC2 lift: {args.state}, команда {height}")
-    for _ in range(5):
-        publisher.publish(Float64(data=height))
-        rclpy.spin_once(node, timeout_sec=0.1)
+        height = 0.05 if args.state == "up" else 0.0
+        expected = "raised" if args.state == "up" else "lowered"
+        print(f"RMC2 lift: {args.state}, команда {height}")
+        for _ in range(5):
+            publisher.publish(Float64(data=height))
+            rclpy.spin_once(node, timeout_sec=0.1)
 
-    deadline = time.monotonic() + args.wait
-    while time.monotonic() < deadline and not statuses:
-        rclpy.spin_once(node, timeout_sec=0.1)
+        deadline = time.monotonic() + args.wait
+        while time.monotonic() < deadline:
+            rclpy.spin_once(node, timeout_sec=0.1)
+            if statuses and statuses[-1].strip().lower() == expected:
+                break
 
-    if statuses:
-        print(f"Статус: {statuses[-1]}")
-    else:
-        print("Нового lift_status нет. Это возможно, если лифт уже был в нужном положении.")
-
-    node.destroy_node()
-    rclpy.shutdown()
+        if statuses and statuses[-1].strip().lower() == expected:
+            print(f"Статус: {statuses[-1]}")
+        else:
+            current = statuses[-1] if statuses else "нет данных"
+            exit_message = (
+                f"Лифт не подтвердил {expected}; текущий статус: {current}"
+            )
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+    if exit_message:
+        raise SystemExit(exit_message)
 
 
 if __name__ == "__main__":
     main()
-