actually add the safety zone

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java

@@ -50,6 +50,7 @@ public class StarterMain {
       safetyZone.addCoordinate(new Coordinate(
           IntPosition.of(coordinate[0], coordinate[1], coordinate[2])));
     }
+    zoneModel.addSafetyZone(safetyZone);
     model.setZoneModel(zoneModel);
     model.MqttWaitUntilReady(2, TimeUnit.SECONDS);
 
@@ -102,7 +103,7 @@ public class StarterMain {
         .setEnableOrientation(false)
         .setEnableTwistAngular(false)
         .setEnableTwistLinear(false)
-        .setPublishRate(200)
+        .setPublishRate(1000)
         .build();
     mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
   }