diff --git a/README.md b/README.md
index b457caf..fcab568 100644
--- a/README.md
+++ b/README.md
@@ -21,6 +21,7 @@ sudo apt install -y ros-${ROS_DISTRO}-webots-ros2 \
                     ros-${ROS_DISTRO}-ros2-controllers \
                     ros-${ROS_DISTRO}-moveit \
                     ros-${ROS_DISTRO}-moveit-py \
+                    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
                     ros-${ROS_DISTRO}-ament-cmake-clang-format \
                     ros-${ROS_DISTRO}-rosbag2-storage-mcap \
                     ros-${ROS_DISTRO}-librealsense2 \
diff --git a/docker/jazzy/ros-base/Dockerfile b/docker/jazzy/ros-base/Dockerfile
index be50216..9d9cb29 100644
--- a/docker/jazzy/ros-base/Dockerfile
+++ b/docker/jazzy/ros-base/Dockerfile
@@ -1,4 +1,5 @@
-FROM evilfisru/ros:jazzy-core-noble
+ARG IMAGE=evilfisru/ros:core-jazzy
+FROM ${IMAGE}
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     build-essential \
diff --git a/docker/jazzy/ros-iiwa7-webots/Dockerfile b/docker/jazzy/ros-iiwa7-webots/Dockerfile
index 6753085..cb8f560 100644
--- a/docker/jazzy/ros-iiwa7-webots/Dockerfile
+++ b/docker/jazzy/ros-iiwa7-webots/Dockerfile
@@ -1,4 +1,6 @@
-FROM evilfisru/ros:jazzy-base-noble
+ARG IMAGE=evilfisru/ros:base-jazzy
+FROM ${IMAGE}
+
 ARG BUILD_TYPE=release
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
@@ -40,16 +42,22 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 WORKDIR /ros2_ws
 
-COPY src/iiwa_* src/
+COPY src/iiwa_bringup src/iiwa_bringup
+COPY src/iiwa_config src/iiwa_config
+COPY src/iiwa_controller src/iiwa_controller
+COPY src/iiwa_description src/iiwa_description
+COPY src/iiwa_msgs src/iiwa_msgs
+COPY src/iiwa_planning src/iiwa_planning
+COPY src/iiwa_utils src/iiwa_utils
 
 RUN apt-get update && \
     rosdep install --from-paths src -i -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
     colcon build --mixin release
 
-RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
+RUN if [ "${BUILD_TYPE}" = "release" ]; then rm -rf src/ build/ log/; fi
 
 RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
 
diff --git a/docker/jazzy/ros-iiwa7-webots/run.sh b/docker/jazzy/ros-iiwa7-webots/run.sh
index 1a27417..3a38eb4 100755
--- a/docker/jazzy/ros-iiwa7-webots/run.sh
+++ b/docker/jazzy/ros-iiwa7-webots/run.sh
@@ -4,7 +4,7 @@
 #   ./run.sh                          — interactive shell
 #   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
 
-IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:jazzy-webots}"
+IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy}"
 
 # Allow local Docker processes to connect to the X server
 xhost +local:docker > /dev/null
@@ -12,6 +12,7 @@ xhost +local:docker > /dev/null
 docker run -it --rm \
     --name ros-webots \
     --network host \
+    -e USER=root \
     -e DISPLAY="${DISPLAY}" \
     -e QT_X11_NO_MITSHM=1 \
     -e LIBGL_ALWAYS_SOFTWARE=1 \
diff --git a/docker/jazzy/ros-iiwa7/Dockerfile b/docker/jazzy/ros-iiwa7/Dockerfile
index 2271cf9..f66d1c7 100644
--- a/docker/jazzy/ros-iiwa7/Dockerfile
+++ b/docker/jazzy/ros-iiwa7/Dockerfile
@@ -1,4 +1,6 @@
-FROM evilfisru/ros:jazzy-base-noble
+ARG IMAGE=evilfisru/ros:base-jazzy
+FROM ${IMAGE}
+
 ARG BUILD_TYPE=release
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
@@ -15,7 +17,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 WORKDIR /ros2_ws
 
-COPY src/iiwa_* src/
+COPY src/iiwa_bringup src/iiwa_bringup
+COPY src/iiwa_config src/iiwa_config
+COPY src/iiwa_controller src/iiwa_controller
+COPY src/iiwa_description src/iiwa_description
+COPY src/iiwa_msgs src/iiwa_msgs
+COPY src/iiwa_planning src/iiwa_planning
+COPY src/iiwa_utils src/iiwa_utils
 
 RUN apt-get update && \
     rosdep install --from-paths src -i -r -y && \
diff --git a/src/iiwa_config/config/setting.yaml b/src/iiwa_config/config/setting.yaml
index 7f5d950..dd19803 100644
--- a/src/iiwa_config/config/setting.yaml
+++ b/src/iiwa_config/config/setting.yaml
@@ -3,7 +3,7 @@ robot:
   ip: "192.170.10.2"
   port: 30200
   command_mode: "position" # torque, position
-  fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
+  fri_cycle_ms: 10          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
   joint_position_tau: 0.04   # EMA фильтр позиций [с]: сглаживает команды перед отправкой в FRI
   joint_velocity_tau: 0.01   # EMA фильтр скорости [с]: убирает выбросы конечных разностей
   active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController