diff --git a/ws_nodes_py/CVs/CVCamera.py b/ws_nodes_py/CVs/CVCamera.py
index 602d6e6936b28b66d5d95eddc913e7146f6b114b..96fe82fe1106fdacef51d69428c513aff0ade34e 100644
--- a/ws_nodes_py/CVs/CVCamera.py
+++ b/ws_nodes_py/CVs/CVCamera.py
@@ -95,10 +95,10 @@ class CVCamera(GetParameterNode, ObjectsDetection):
                 # Вывести расчётную дистанцию до контура
                 cv2.putText(frame, f'D{round(dist,2)}', (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 0, 255), 2)
                 # Выделение прямоугольника 
-                # cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
-                # Оси через центр контура
-                # cv2.line(frame, (cx, 0), (cx, self.height), (0, 255, 0), 1)
-                # cv2.line(frame, (0, cy), (self.width, cy), (0, 255, 0), 1)
+                cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
+                #Оси через центр контура
+                cv2.line(frame, (x, 0), (x, self.height), (0, 255, 0), 1)
+                cv2.line(frame, (0, y), (self.width, y), (0, 255, 0), 1)
         
         if len(posters) >= 1:
             return posters[:1]
diff --git a/ws_nodes_py/CVs/videoD.py b/ws_nodes_py/CVs/videoD.py
index f80bffcde2dda013f75c4471703633e829fbfa31..64738530277a0161448ccc0c90d0a80e10a730f8 100644
--- a/ws_nodes_py/CVs/videoD.py
+++ b/ws_nodes_py/CVs/videoD.py
@@ -17,6 +17,8 @@ class RosOpencvToBinary(CVCamera):
 
     def image_processing(self, frame, debug_frame):
         self.publish_coordinte(self.get_bottom, "red_position", frame, debug_frame)
+        self.publish_coordinte(self.get_bottom, "black_position", frame, debug_frame)
+       # self._logger.info(self.get)
 
 
 def main(args=None):
diff --git a/ws_nodes_py/StateMachine/Controller.py b/ws_nodes_py/StateMachine/Controller.py
index 0feccf2167b4129e0c8baec99f9bd11be49dc4e9..d271d990240f6c723a6760df3100bc28cae83651 100644
--- a/ws_nodes_py/StateMachine/Controller.py
+++ b/ws_nodes_py/StateMachine/Controller.py
@@ -16,7 +16,7 @@ class Controller(Node):
 
     def __init__(self):
         super().__init__('state_machine_teleop')
-        self.get_logger().info('State machine started')
+        
 
         self.position = Point()
 
@@ -29,6 +29,7 @@ class Controller(Node):
         self.detected_objects_lifetime = 1  # int sec
 
         self.settings = {}
+        self.__new_taget_point = Point()
 
         self.running = True
 
@@ -41,7 +42,9 @@ class Controller(Node):
         self.declare_parameter('reset_topic', rclpy.Parameter.Type.STRING)
         self.declare_parameter('hz', rclpy.Parameter.Type.INTEGER)
         self.declare_parameter('object_position_topic', rclpy.Parameter.Type.STRING)
-        
+        # self.declare_parameter("name", rclpy.Parameter.Type.STRING)
+        self.waterstrider_name = self.declare_parameter("name", "01").value
+        self.get_logger().info(f'State machine started, my name is: {self.waterstrider_name}')
 
         self.pub_move_type = self.create_publisher(String, self.get_declare_parameter('move_type_topic', lambda x: x, "no move type is described"), 10)
         self.pub_goal = self.create_publisher(Point, self.get_declare_parameter('goal_topic', lambda x: x, "no goal_topic is described"), 10)
@@ -51,7 +54,10 @@ class Controller(Node):
         self.drop_stakan = self.create_publisher(Int16, "modbus/auto_probe_drop/write", 10)
         self.drop_box = self.create_publisher(Int16, "modbus/drop_box/write", 10)
         self.drop_zabralo = self.create_publisher(Int16, "modbus/catch_balls/write", 10)
+        self.ask_new_taget_publisher = self.create_publisher(PointStamped, "/ask_new_target", 1)
+        
 
+        self.create_subscription(PointStamped, "/global_goal", self.global_goal_callback, 10)
         self.create_subscription(Point, self.get_declare_parameter('position_topic', lambda x: x, "no pos is described"), self.pos_callback, 10)
         self.create_subscription(Int16, self.get_declare_parameter('heading_topic', lambda x: x, "no heading is described"), self.heading_callback, 10)
         self.create_subscription(PointStamped, self.get_declare_parameter('object_position_topic', lambda x: x, "no object_position is described"), self.obj_callback, 10)
@@ -76,6 +82,17 @@ class Controller(Node):
                 break
         else:
             self.detected_objects.append(msg)
+
+    def global_goal_callback(self, msg:PointStamped):
+        self.get_logger().info(f"{msg.header.frame_id}")
+        if msg.header.frame_id == self.waterstrider_name:
+            self.__new_taget_point.x, self.__new_taget_point.y = msg.point.x, msg.point.y
+
+    def ask_new_target_point(self):
+        askMsg = PointStamped()
+        askMsg.header.frame_id = self.waterstrider_name
+        askMsg.point.x, askMsg.point.y = self.position.x, self.position.y
+        self.ask_new_taget_publisher.publish(askMsg)
     
     def set_settings(self, key, val):
         self.settings[key] = val
@@ -158,3 +175,11 @@ class Controller(Node):
 
     def shutdown(self):
         return not self.running
+    
+    @property
+    def new_target_point(self):
+        return self.__new_taget_point
+    
+    @new_target_point.setter
+    def new_target_point(self, point):
+        self.__new_taget_point = point
\ No newline at end of file
diff --git a/ws_nodes_py/StateMachine/MissionPlanners/SimpleMissionPlanner.py b/ws_nodes_py/StateMachine/MissionPlanners/SimpleMissionPlanner.py
new file mode 100644
index 0000000000000000000000000000000000000000..7b7f2b724bf527946b058824e2df87d5ad779ce5
--- /dev/null
+++ b/ws_nodes_py/StateMachine/MissionPlanners/SimpleMissionPlanner.py
@@ -0,0 +1,40 @@
+import math
+class SimpleMissionPlanner:
+    def __init__(self, tack_width, start_position, area_size):
+            self.tack_width = tack_width
+            self.current_lat = start_position[0]
+            self.current_lon = start_position[1]
+            self.area_width = area_size[1]
+            self.area_height = area_size[0]
+            self.target_lat = self.current_lat
+            self.target_lon = self.current_lon
+            self.path = list()
+    
+    def make_tack_path(self, type):
+        if type == 'vertical':
+            self.tack_count = math.trunc(self.area_width/self.tack_width) // 2
+            for i in range(self.tack_count):
+                self.current_lat += self.area_height
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lon -= self.tack_width
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lat -=self.area_height
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lon -= self.tack_width
+                self.path.append([self.current_lat, self.current_lon])
+
+        elif type == 'horizontal':
+             self.tack_count = math.trunc(self.area_height / self.tack_width)// 2
+             for i in range(self.tack_count):
+                self.current_lon += self.area_width
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lat -= self.tack_width
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lon -= self.area_width
+                self.path.append([self.current_lat, self.current_lon])
+                self.current_lat -= self.tack_width
+                self.path.append([self.current_lat, self.current_lon])
+                # self.current_lat -=self.area_height
+                # self.path.append([self.current_lat, self.current_lon])
+                # self.current_lon -= self.tack_width
+                # self.path.append([self.current_lat, self.current_lon])
\ No newline at end of file
diff --git a/ws_nodes_py/StateMachine/MotionStates.py b/ws_nodes_py/StateMachine/MotionStates.py
index b3c7cb18754f82fec5c9b7944a6f89c932492f9c..fd34f164433bd4a1ac87b5d3e57447ca9bf56371 100644
--- a/ws_nodes_py/StateMachine/MotionStates.py
+++ b/ws_nodes_py/StateMachine/MotionStates.py
@@ -1,6 +1,8 @@
-import rclpy.duration
+from rclpy.duration import Duration
+import rclpy
 from math import pi, copysign, atan2, sin, cos, radians, degrees, acos
 from ws_nodes_py.settings.for_world import world_markers
+from geometry_msgs.msg import Point
 from smach import State
 
 # TODO состояние движения занимается движением
@@ -157,4 +159,81 @@ class MoveByHeading(State):
         while not self.cntr.shutdown():
             self.cntr.update()
             rclpy.spin_once(self.cntr)
-        return 'complite'
\ No newline at end of file
+        return 'complite'
+    
+    
+class MoveToPoint(State):
+    def __init__(self, c, dist_treshold: float=None):
+        State.__init__(self, outcomes=['complite'], input_keys=['sm_counter'],
+                             output_keys=['sm_goal', 'sm_pos', 'sm_error_dist', 'sm_error_angle'],)
+        
+        self.cntr = c
+        # Получаем координаты объекта из данных о метке или задём координаты вручную
+        self.distance_threshold = dist_treshold
+        self.__is_started = False
+        self.__is_running = False
+        self.__is_asked = False
+        self.__target_point = Point()
+
+    def execute(self, userdata):
+        if not self.__is_started:
+            self.cntr.next_step("STOP", [0, 0])
+            self.__is_started = True
+        self.cntr.get_logger().info(f'Wait target from global planner')
+        while not self.cntr.shutdown():
+            self.cntr.update()
+            rclpy.spin_once(self.cntr)
+            if not self.__is_running and not self.__is_asked:
+                self.cntr.ask_new_target_point()
+                self.cntr.get_logger().info(f'Wait new target point')
+                self.cntr.next_step("STOP", [0, 0])
+                self.state_change_time = self.cntr.get_clock().now()
+                self.__is_asked = True
+            elif not self.__is_running and self.__is_asked:
+                if (self.cntr.get_clock().now() - self.state_change_time) > Duration(seconds=10):
+                    self.cntr.ask_new_target_point()
+                    self.state_change_time = self.cntr.get_clock().now()
+                    self.cntr.get_logger().info(f'Ask again')
+                self.cntr.get_logger().info(f'{self.__target_point.x, self.__target_point.y}, {self.cntr.new_target_point.x, self.cntr.new_target_point.y}')
+                if self.cntr.new_target_point != self.__target_point:
+                    self.__target_point.x,self.__target_point.y = self.cntr.new_target_point.x, self.cntr.new_target_point.y
+                    self.cntr.get_logger().info(f'My life - is my rules. The new target - is my target {self.__target_point.x}, {self.__target_point.y}')
+                    self.__is_running = True
+                    self.__is_asked = False
+            elif self.__is_running:
+                self.cntr.next_step("MOVE TO", [self.__target_point.x, self.__target_point.y], True, "mrmr_position", True)
+               # self.cntr.get_logger().info(f"I'm start walking to")
+                error_dist = self.calculate_dist(self.cntr.position, self.__target_point)
+                
+                # self.cntr.get_logger().info(f"{round(self.angle_error(self.angle_point_error(), self.cntr.heading), 0), round(self.angle_point_error(), 0), round(self.cntr.heading, 0)}")
+                # userdata.sm_error_angle = f'{round(self.angle_error(self.angle_point_error(), self.cntr.heading), 0)} deg'
+                # userdata.sm_goal = f'{round(self.goal[0], 1)} m\t{round(self.goal[1], 1)} m'
+                # userdata.sm_pos = f'{round(self.cntr.position.x, 1)} m\t{round(self.cntr.position.y, 1)} m'
+                # userdata.sm_error_dist = f'{round(error_dist, 1)} m'
+
+                if self.distance_threshold is not None and error_dist < self.distance_threshold:
+                    self.__is_running = False
+        return 'complite'
+    
+    def angle_point_error(self):
+        x1, y1 = self.cntr.position.x, self.cntr.position.y
+        x2, y2 = self.goal[0], self.goal[1]
+        dx, dy = x2 - x1, y2 - y1
+        ln = (dx**2 + dy**2)**0.5
+        if ln:
+            dxn = dx/ln
+            dyn = dy/ln
+            ang = degrees(acos(dxn))
+            if dyn < 0:
+                ang = 360 - ang
+            return ang
+        return 0        
+
+    def angle_error(self, target_angle, source_angle):
+        result = (source_angle - target_angle) % 360
+        if result > 180:
+            result -= 360
+        return result
+    
+    def calculate_dist(self, point1, point2):
+        return ((point2.x - point1.x)**2 + (point2.y - point1.y)**2)**0.5
\ No newline at end of file
diff --git a/ws_nodes_py/StateMachine/mission_generators.py b/ws_nodes_py/StateMachine/mission_generators.py
index c8663aad07395832ea878bc688be701873e958fb..dd69a1ad49202f315f23e07d66d7c0eecabb8e64 100644
--- a/ws_nodes_py/StateMachine/mission_generators.py
+++ b/ws_nodes_py/StateMachine/mission_generators.py
@@ -3,7 +3,7 @@ from typing import List
 from ws_nodes_py.StateMachine.MotionStates import *
 
 
-def gals_hodit_plavat_kursach_delat(points: List[List[float]], dist_treshold: float=0.11, navigation_marker: str="mrmr_position"):
+def diplom_mission(points: List[List[float]], dist_treshold: float=0.11, navigation_marker: str="mrmr_position"):
     mission = []
     for point in points:
         mission.append([MoveToGoal, {"goal": point, "dist_treshold": dist_treshold, "navigation_marker": navigation_marker, "is_real_compass": True, "is_update_pos": True}])
diff --git a/ws_nodes_py/StateMachine/state_machine.py b/ws_nodes_py/StateMachine/state_machine.py
index 81234b754a90e15d1aefebb48230356cadf5a603..0a84af91af25df7a4c90a42dbf82b4c4f9944e05 100644
--- a/ws_nodes_py/StateMachine/state_machine.py
+++ b/ws_nodes_py/StateMachine/state_machine.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 
 import rclpy.logging
-from ws_nodes_py.settings.mission import mission
+from ws_nodes_py.settings.mission import diplom_mission as mission
 from ws_nodes_py.StateMachine.MissionMachine import MissionMachine
 import smach
 import rclpy
diff --git a/ws_nodes_py/__pycache__/__init__.cpython-310.pyc b/ws_nodes_py/__pycache__/__init__.cpython-310.pyc
index 6f3e9bb01dacb26cdc3b2bf0a4fb3c3601a3e9b5..2d097b5712cae105a2239f3f7449ae94f11f07a1 100644
Binary files a/ws_nodes_py/__pycache__/__init__.cpython-310.pyc and b/ws_nodes_py/__pycache__/__init__.cpython-310.pyc differ
diff --git a/ws_nodes_py/__pycache__/compass.cpython-310.pyc b/ws_nodes_py/__pycache__/compass.cpython-310.pyc
index 5309f368e6cef1346ede5f261df4284f74f2dcfe..394c4b00339a3ec94dbfc3c327babaa8a44e73fe 100644
Binary files a/ws_nodes_py/__pycache__/compass.cpython-310.pyc and b/ws_nodes_py/__pycache__/compass.cpython-310.pyc differ
diff --git a/ws_nodes_py/__pycache__/regulator.cpython-310.pyc b/ws_nodes_py/__pycache__/regulator.cpython-310.pyc
index 273f29cef073a4f8a8b9c9bf9a406cdc96f04997..963da691bd9c5a0c53f07ef5fd4a10a01bc01717 100644
Binary files a/ws_nodes_py/__pycache__/regulator.cpython-310.pyc and b/ws_nodes_py/__pycache__/regulator.cpython-310.pyc differ
diff --git a/ws_nodes_py/__pycache__/twist_controller.cpython-310.pyc b/ws_nodes_py/__pycache__/twist_controller.cpython-310.pyc
index a16d7077b85258d358a262385b4666991f43d2f8..7d3fc96514ccb5d94923d11637c4799b2acf3a6c 100644
Binary files a/ws_nodes_py/__pycache__/twist_controller.cpython-310.pyc and b/ws_nodes_py/__pycache__/twist_controller.cpython-310.pyc differ
diff --git a/ws_nodes_py/__pycache__/world.cpython-310.pyc b/ws_nodes_py/__pycache__/world.cpython-310.pyc
index c067c2a5ae1093ce2b7a17fd72aed58f345aad29..913292fbfdb46e04cbe25b286e9dd242ac788172 100644
Binary files a/ws_nodes_py/__pycache__/world.cpython-310.pyc and b/ws_nodes_py/__pycache__/world.cpython-310.pyc differ
diff --git a/ws_nodes_py/compass.py b/ws_nodes_py/compass.py
index 96694e12df6c2b2e6114efffccb293343e1356b6..048ba30b25c313c3b0e76d916633e9c5e80eef32 100644
--- a/ws_nodes_py/compass.py
+++ b/ws_nodes_py/compass.py
@@ -9,8 +9,14 @@ from std_msgs.msg import Int16, String, Bool
 from geometry_msgs.msg import Twist
 from ws_nodes_py.settings.for_world import old_motor_ang_speed, new_motor_ang_speed
 from collections import deque 
-from numpy import median
+from numpy import *
+
 if not is_real:
+    import numpy as np
+    np.float = float    
+    np.int = int   #module 'numpy' has no attribute 'int'
+    np.object = object    #module 'numpy' has no attribute 'object'
+    np.bool = bool   
     # sudo apt-get install ros-<ros_distro>-tf-transformations
     from tf_transformations import euler_from_quaternion
     from sensor_msgs.msg import Imu
diff --git a/ws_nodes_py/default/ObjectsDetection.py b/ws_nodes_py/default/ObjectsDetection.py
index d3bf092085973146f13c2e2a529b2c1097445ee4..d1a439a0c5ad34b4e63c313a068cc751d7b4bf9c 100644
--- a/ws_nodes_py/default/ObjectsDetection.py
+++ b/ws_nodes_py/default/ObjectsDetection.py
@@ -267,6 +267,17 @@ class ObjectsDetection:
                     0.01, True, 2,  # aprox_k is_max_vertices, count_aproxs
                 ]
             },
+            "black_position": {
+                "binary": [((49, 0, 0), (64, 133, 135)), cv2.COLOR_RGB2YUV, self.__get_box_borders(*roi_full), False, False],
+                "contours": [
+                    # Выделение контуров по размерам
+                    1000, None, 2, True,  # min_size, max_size, count_counturs, is_max_size
+                    # Проверка, что контур не косается границы (roi_full, 0) - нет проверки
+                    roi_full, 0,  # border, border_offset
+                    # Сортировка пол количеству граней
+                    0.01, True, 2,  # aprox_k is_max_vertices, count_aproxs
+                ]
+            },
         }
 
     def __get_binary(self, frame, mask, color_type, roi_corners, is_more_contrast, is_more_shapen):
diff --git a/ws_nodes_py/default/__pycache__/GetParameterNode.cpython-310.pyc b/ws_nodes_py/default/__pycache__/GetParameterNode.cpython-310.pyc
index 23ca236b27894714d2a9edad37c9bda57fd7c77c..9e419ae84b12a4d746019e65254046bd4f238a5a 100644
Binary files a/ws_nodes_py/default/__pycache__/GetParameterNode.cpython-310.pyc and b/ws_nodes_py/default/__pycache__/GetParameterNode.cpython-310.pyc differ
diff --git a/ws_nodes_py/default/__pycache__/ObjectsDetection.cpython-310.pyc b/ws_nodes_py/default/__pycache__/ObjectsDetection.cpython-310.pyc
index 786aa1e074d57ba5307e633a857f2ce9b9c9b953..455aad08782e999d3b977c328fc896b9ededfd55 100644
Binary files a/ws_nodes_py/default/__pycache__/ObjectsDetection.cpython-310.pyc and b/ws_nodes_py/default/__pycache__/ObjectsDetection.cpython-310.pyc differ
diff --git a/ws_nodes_py/orientation_by_mrmr.py b/ws_nodes_py/orientation_by_mrmr.py
index 5586f9441ff03e8b5791ddce83ad4ce862711055..5b005bd44f8ddfc38e8b52348c21c6231b92719d 100644
--- a/ws_nodes_py/orientation_by_mrmr.py
+++ b/ws_nodes_py/orientation_by_mrmr.py
@@ -28,9 +28,11 @@ class MrMrPosition(GetParameterNode):
     def __odom_callback(self, odom):
         position = odom.pose.pose.position
         x, y = position.x, position.y
+        
         # go pool coord
         x = x + 10
         y = -(y + 4)
+       # self.get_logger().info(f"{position.x, x, position.y, y}")
         self.__send_position(x, y)
     
     def __send_position(self, x, y):
diff --git a/ws_nodes_py/settings/__pycache__/for_world.cpython-310.pyc b/ws_nodes_py/settings/__pycache__/for_world.cpython-310.pyc
index 22e7e213de182100eb8ed7791b632463451f97ba..b8e60a88e3378756f048d721582feaa82e56dbe8 100644
Binary files a/ws_nodes_py/settings/__pycache__/for_world.cpython-310.pyc and b/ws_nodes_py/settings/__pycache__/for_world.cpython-310.pyc differ
diff --git a/ws_nodes_py/settings/__pycache__/robot_settings.cpython-310.pyc b/ws_nodes_py/settings/__pycache__/robot_settings.cpython-310.pyc
index 4bcd6b01b89cc1b76c17df35c6b6fa9914c8aa75..a6a417f14e3b2dbc523ee037b538285e16a76d63 100644
Binary files a/ws_nodes_py/settings/__pycache__/robot_settings.cpython-310.pyc and b/ws_nodes_py/settings/__pycache__/robot_settings.cpython-310.pyc differ
diff --git a/ws_nodes_py/settings/mission.py b/ws_nodes_py/settings/mission.py
index 76ebf632493e30a3eb2d6bc4445c1ead5c1dbfa2..ef5c190bb39624564ad72421c7b0f65db4f48fa4 100644
--- a/ws_nodes_py/settings/mission.py
+++ b/ws_nodes_py/settings/mission.py
@@ -3,6 +3,7 @@ from ws_nodes_py.StateMachine.MotionStates import *
 from ws_nodes_py.StateMachine.SpecialStates import *
 from ws_nodes_py.StateMachine.DefaultStates import *
 from ws_nodes_py.StateMachine.mission_generators import *
+from ws_nodes_py.StateMachine.MissionPlanners.SimpleMissionPlanner import *
 
 
 on_navigation = [
@@ -285,6 +286,11 @@ fourth_step_short = [
 # mission = first_step_short + second_step + third_step + fourth_step_short
 # mission = first_step_nav + second_step + third_step + fourth_step_short
 mission = first_step + second_step + third_step + fourth_step_short
+
+diplom_mission = [
+    [
+        [MoveToPoint, {"dist_treshold":0.2}],
+    ]] 
 # mission = second_step
 # mission = third_step
 # mission = fourth_step
@@ -339,8 +345,15 @@ mission = first_step + second_step + third_step + fourth_step_short
 # mission = miss
 
 
-mission = gals_hodit_plavat_kursach_delat([[4, 0], [4, -4], [0, -4], [0, 0]] * 2)
+# mission = diplom_mission([[4, 0], [4, -4], [0, -4], [0, 0]] * 2)
+
+# simple_planer = SimpleMissionPlanner(1,(20, -8), (20, 8))
+# simple_planer.make_tack_path('horizontal')
+# mission = diplom_mission(simple_planer.path)
 
+# simple_planer = SimpleMissionPlanner(1,(0,0), (20, 8))
+# simple_planer.make_tack_path('vertical')
+# mission = diplom_mission(simple_planer.path)
 
 """
 mission = trough_gate("blue")
diff --git a/ws_nodes_py/settings/robot_settings.py b/ws_nodes_py/settings/robot_settings.py
index bbe73cddd30dfb06c1ff814f795a48264c5b8765..f1d9b79bb381f4ec0ea754f20db88150722cb892 100644
--- a/ws_nodes_py/settings/robot_settings.py
+++ b/ws_nodes_py/settings/robot_settings.py
@@ -22,4 +22,4 @@ cameras_ports = {
     "14.0-3.4.1": "camera_down",  # в хабе    
 }
 
-camcv = {'F':'camera_front', 'S':'camera_side', 'D':'camera_down'}
\ No newline at end of file
+camcv = {'D':'camera_down'}
\ No newline at end of file
diff --git a/ws_nodes_py/world.py b/ws_nodes_py/world.py
index 39ea8a3044d84b13137d28249dea4eda58ac9419..492f653c369f842b1f6a73eb7a571f81038f1f91 100644
--- a/ws_nodes_py/world.py
+++ b/ws_nodes_py/world.py
@@ -10,36 +10,36 @@ from math import radians, cos, sin
 
 class World(GetParameterNode):
     def update(self):
-        try:
-            delta_time = time() - self.last_time
-        except AttributeError:
-            self.get_logger().info("start updating")
-            delta_time = 0
-        self.last_time = time()
+        # try:
+        #     delta_time = time() - self.last_time
+        # except AttributeError:
+        #     self.get_logger().info("start updating")
+        #     delta_time = 0
+        # self.last_time = time()
 
-        if self.is_update_pos:  # Экстраполируем положени катамарана
-            # Вычисление скорости катамарана
-            med_signal = round(1_500 + abs(self.throtle) * 500)
-            low, high = 1500, 2000
-            for key in self.motor_speed.keys():
-                if low <= key <= med_signal:
-                    low = key
-                if high >= key >= med_signal:
-                    high = key
-                    break
+        # if self.is_update_pos:  # Экстраполируем положени катамарана
+        #     # Вычисление скорости катамарана
+        #     med_signal = round(1_500 + abs(self.throtle) * 500)
+        #     low, high = 1500, 2000
+        #     for key in self.motor_speed.keys():
+        #         if low <= key <= med_signal:
+        #             low = key
+        #         if high >= key >= med_signal:
+        #             high = key
+        #             break
             
-            # Линейная интерполяция
-            speed = round(self.motor_speed[low] + ((med_signal - low) / (high - low) * (self.motor_speed[high] - self.motor_speed[low]) if high != low else 0), 2)
+        #     # Линейная интерполяция
+        #     speed = round(self.motor_speed[low] + ((med_signal - low) / (high - low) * (self.motor_speed[high] - self.motor_speed[low]) if high != low else 0), 2)
             
-            if self.throtle < 0:
-                speed = -speed
+        #     if self.throtle < 0:
+        #         speed = -speed
             
-            # Расчёт смещения
-            dx = speed * cos(radians(self.heading)) * delta_time
-            dy = speed * sin(radians(self.heading)) * delta_time
-            # Обновление позиции
-            self.position[0] += dx
-            self.position[1] += dy
+        #     # Расчёт смещения
+        #     dx = speed * cos(radians(self.heading)) * delta_time
+        #     dy = speed * sin(radians(self.heading)) * delta_time
+        #     # Обновление позиции
+        #     self.position[0] += dx
+        #     self.position[1] += dy
         
         msg = Point()
         msg.x = float(self.position[0])
@@ -81,14 +81,14 @@ class World(GetParameterNode):
         if msg.data == "reset_map":
             self.position = start_position[:]
             # self.get_logger().info(f"reset map {self.position}")
-        elif msg.data == "fix_pos":
-            self.position = [0, 0]
-            # self.get_logger().info(f"reset map {self.position} and fix_pos")
-            self.is_update_pos = False
-        elif msg.data == "update_pos":
-            self.position = [0, 0]
-            # self.get_logger().info(f"reset map {self.position} and update_pos")
-            self.is_update_pos = True
+        # elif msg.data == "fix_pos":
+        #     self.position = [0, 0]
+        #     # self.get_logger().info(f"reset map {self.position} and fix_pos")
+        #     self.is_update_pos = False
+        # elif msg.data == "update_pos":
+        #     self.position = [0, 0]
+        #     # self.get_logger().info(f"reset map {self.position} and update_pos")
+        #     self.is_update_pos = True
 
     def update_gloabal_position(self, msg):
         if self.navigation_marker != "" and self.navigation_marker in msg.header.frame_id: