diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
index a761fa5c..6221802d 100644
--- a/rm_common/include/rm_common/decision/command_sender.h
+++ b/rm_common/include/rm_common/decision/command_sender.h
@@ -44,6 +44,7 @@
 #include <rm_msgs/ChassisCmd.h>
 #include <rm_msgs/GimbalCmd.h>
 #include <rm_msgs/ShootCmd.h>
+#include <rm_msgs/ShootBeforehandCmd.h>
 #include <rm_msgs/GimbalDesError.h>
 #include <rm_msgs/StateCmd.h>
 #include <rm_msgs/TrackData.h>
@@ -359,9 +360,9 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   {
     gimbal_des_error_ = error;
   }
-  void updateAllowShoot(const rm_msgs::GimbalDesError& data)
+  void updateShootBeforehandCmd(const rm_msgs::ShootBeforehandCmd& data)
   {
-    allow_shoot_ = data;
+    shoot_beforehand_cmd_ = data;
   }
   void updateTrackData(const rm_msgs::TrackData& data)
   {
@@ -373,10 +374,19 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   }
   void checkError(const ros::Time& time)
   {
-    if ((((gimbal_des_error_.error > gimbal_error_tolerance_ && time - gimbal_des_error_.stamp < ros::Duration(0.1)) ||
-          (track_data_.accel > target_acceleration_tolerance_)) ||
-         (!suggest_fire_.data && armor_type_ == rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE)) ||
-        (allow_shoot_.error == 0. && time - allow_shoot_.stamp < ros::Duration(0.1)))
+    if (msg_.mode == rm_msgs::ShootCmd::PUSH && time - shoot_beforehand_cmd_.stamp < ros::Duration(0.1))
+    {
+      if (shoot_beforehand_cmd_.cmd == rm_msgs::ShootBeforehandCmd::ALLOW_SHOOT)
+        return;
+      if (shoot_beforehand_cmd_.cmd == rm_msgs::ShootBeforehandCmd::BAN_SHOOT)
+      {
+        setMode(rm_msgs::ShootCmd::READY);
+        return;
+      }
+    }
+    if (((gimbal_des_error_.error > gimbal_error_tolerance_ && time - gimbal_des_error_.stamp < ros::Duration(0.1)) ||
+         (track_data_.accel > target_acceleration_tolerance_)) ||
+        (!suggest_fire_.data && armor_type_ == rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE))
       if (msg_.mode == rm_msgs::ShootCmd::PUSH)
         setMode(rm_msgs::ShootCmd::READY);
   }
@@ -464,7 +474,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   double extra_wheel_speed_once_{};
   double total_extra_wheel_speed_{};
   rm_msgs::TrackData track_data_;
-  rm_msgs::GimbalDesError gimbal_des_error_, allow_shoot_;
+  rm_msgs::GimbalDesError gimbal_des_error_;
+  rm_msgs::ShootBeforehandCmd shoot_beforehand_cmd_;
   std_msgs::Bool suggest_fire_;
   uint8_t armor_type_{};
 };
diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt
index e0b80be3..c8bd5df5 100644
--- a/rm_msgs/CMakeLists.txt
+++ b/rm_msgs/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
         geometry_msgs
         actionlib
         actionlib_msgs
-        )
+)
 
 add_message_files(
         FILES
@@ -17,6 +17,7 @@ add_message_files(
         ChassisCmd.msg
         ShootCmd.msg
         ShootState.msg
+        ShootBeforehandCmd.msg
         GimbalCmd.msg
         GimbalDesError.msg
         LpData.msg
diff --git a/rm_msgs/msg/ShootBeforehandCmd.msg b/rm_msgs/msg/ShootBeforehandCmd.msg
new file mode 100644
index 00000000..a4c7f5e5
--- /dev/null
+++ b/rm_msgs/msg/ShootBeforehandCmd.msg
@@ -0,0 +1,7 @@
+uint8 BAN_SHOOT = 0
+uint8 JUDGE_BY_ERROR = 1
+uint8 ALLOW_SHOOT = 2
+
+uint8 cmd
+
+time stamp