fix mapping and set planner to 'fluid'

ros2rag.starter/src/main/jastadd/Definitions.ros2rag

@@ -22,7 +22,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
 LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
 //  System.out.println("LinkStateToIntPosition");
   panda.Linkstate.PandaLinkState.Position p = pls.getPos();
-  return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5)));
+  return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 - 0.5)));
 :}
 
 CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
@@ -30,6 +30,6 @@ CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
   return config.Robotconfig.RobotConfig.newBuilder()
     .setSpeed(speed)
     .setLoopTrajectory(true)
-    .setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.CARTESIAN)
+    .setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.FLUID)
     .build();
 :}