From 3520369ad98bdaefa9f17fb7f216cb993e11d0a3 Mon Sep 17 00:00:00 2001
From: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
Date: Fri, 17 Jan 2025 01:09:01 +0900
Subject: [PATCH] =?UTF-8?q?HALT=E3=81=A7=E3=81=AF=E7=9B=AE=E6=A8=99?=
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---
 crane_local_planner/src/rvo2_planner.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/crane_local_planner/src/rvo2_planner.cpp b/crane_local_planner/src/rvo2_planner.cpp
index 94a5358e0..4ca602a0b 100644
--- 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();