diff --git a/op3_demo/include/op3_demo/ball_follower.h b/op3_demo/include/op3_demo/ball_follower.h
index f7a93b2..fbcc710 100644
--- a/op3_demo/include/op3_demo/ball_follower.h
+++ b/op3_demo/include/op3_demo/ball_follower.h
@@ -55,6 +55,10 @@ class BallFollower
   void waitFollowing();
   void startFollowing();
   void stopFollowing();
+  void clearBallPosition()
+  {
+    approach_ball_position_ = NotFound;
+  }
 
   int getBallPosition()
   {
diff --git a/op3_demo/include/op3_demo/soccer_demo.h b/op3_demo/include/op3_demo/soccer_demo.h
index cfbd822..48fd957 100644
--- a/op3_demo/include/op3_demo/soccer_demo.h
+++ b/op3_demo/include/op3_demo/soccer_demo.h
@@ -98,6 +98,8 @@ class SoccerDemo : public OPDemo
   void setRGBLED(int blue, int green, int red);
   bool isActionRunning();
 
+  void sendDebugTopic(const std::string &msgs);
+
   BallTracker ball_tracker_;
   BallFollower ball_follower_;
 
@@ -108,6 +110,8 @@ class SoccerDemo : public OPDemo
   ros::Subscriber demo_command_sub_;
   ros::Subscriber imu_data_sub_;
 
+  ros::Publisher test_pub_;
+
   ros::ServiceClient is_running_client_;
   ros::ServiceClient set_joint_module_client_;
 
diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp
index c3e4626..42ed395 100644
--- a/op3_demo/src/soccer/soccer_demo.cpp
+++ b/op3_demo/src/soccer/soccer_demo.cpp
@@ -143,7 +143,7 @@ void SoccerDemo::process()
       }
 
       // check states for kick
-      int ball_position = ball_follower_.getBallPosition();
+//      int ball_position = ball_follower_.getBallPosition();
       bool in_range = ball_follower_.isBallInRange();
 
       if(in_range == true)
@@ -204,6 +204,8 @@ void SoccerDemo::callbackThread()
   is_running_client_ = nh.serviceClient<op3_action_module_msgs::IsRunning>("/robotis/action/is_running");
   set_joint_module_client_ = nh.serviceClient<robotis_controller_msgs::SetJointModule>("/robotis/set_present_joint_ctrl_modules");
 
+  test_pub_ = nh.advertise<std_msgs::String>("/debug_text", 0);
+
   while (nh.ok())
   {
     ros::spinOnce();
@@ -514,6 +516,8 @@ void SoccerDemo::handleKick(int ball_position)
 
   on_following_ball_ = false;
   restart_soccer_ = true;
+  tracking_status_ = BallTracker::NotFound;
+  ball_follower_.clearBallPosition();
 
   usleep(2000 * 1000);
 
@@ -540,6 +544,8 @@ void SoccerDemo::handleKick()
   {
     on_following_ball_ = false;
     restart_soccer_ = true;
+    tracking_status_ = BallTracker::NotFound;
+    ball_follower_.clearBallPosition();
     return;
   }
 
@@ -561,6 +567,8 @@ void SoccerDemo::handleKick()
 
   on_following_ball_ = false;
   restart_soccer_ = true;
+  tracking_status_ = BallTracker::NotFound;
+  ball_follower_.clearBallPosition();
 
   usleep(2000 * 1000);
 
@@ -653,4 +661,12 @@ bool SoccerDemo::isActionRunning()
   return false;
 }
 
+void SoccerDemo::sendDebugTopic(const std::string &msgs)
+{
+  std_msgs::String debug_msg;
+  debug_msg.data = msgs;
+
+  test_pub_.publish(debug_msg);
+}
+
 }