Hello, experts. I'm trying to test aster_avoid node with enable_avoidance=true on the Gazebo environment. I figured out how to make up and run nodes.

But, It is difficult to understand the logic of astar_avoid.cpp(366 line) and (368 line)

Why "do nothing, keep current waypoints", when state is on STOPPING and PLANNING? I think that it have to stop when it is on STOPPING and PLANNING. If it does nothing, It'll keep going to follow the waypoints it had.

Could you help me to understand?