HALTでは目標位置の上書きをしない

ibis-ssl · Jan 16, 2025 · 3520369 · 3520369
1 parent daed9b3
commit 3520369
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/crane_local_planner/src/rvo2_planner.cpp b/crane_local_planner/src/rvo2_planner.cpp
@@ -258,7 +258,11 @@ crane_msgs::msg::RobotCommands RVO2Planner::calculateRobotCommand(
   const crane_msgs::msg::RobotCommands & msg)
 {
   crane_msgs::msg::RobotCommands commands = msg;
-  overrideTargetPosition(commands);
+  if (
+    world_model->play_situation.getRefereeCommandID() !=
+    robocup_ssl_msgs::msg::Referee::COMMAND_HALT) {
+    overrideTargetPosition(commands);
+  }
   reflectWorldToRVOSim(commands);
   // RVOシミュレータ更新
   rvo_sim->doStep();