diff --git a/mg_navigation/src/mg_move_server.cpp b/mg_navigation/src/mg_move_server.cpp
index f950fba..1c9c627 100644
--- a/mg_navigation/src/mg_move_server.cpp
+++ b/mg_navigation/src/mg_move_server.cpp
@@ -212,6 +212,7 @@ private:
             rate.sleep();
         }
         if(rclcpp::ok()) {
+            command_publisher_->publish(to_twist(0.0 ,0.0));
             auto x = std::make_shared<MoveAction::Result>();
             x->error = MoveAction::Result::SUCCESS;
             is_processing_goal_ = false;