diff --git a/toid_behaviors/src/simple_rotate.cpp b/toid_behaviors/src/simple_rotate.cpp
index 42a9bb2..f31e36d 100644
--- a/toid_behaviors/src/simple_rotate.cpp
+++ b/toid_behaviors/src/simple_rotate.cpp
@@ -36,7 +36,7 @@ ResultStatus SimpleRotateBehavior::onStart(
   const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
   const geometry_msgs::msg::Twist & vel)
 {
-  target_angle_ = command->angle;
+  target_angle_ = angles::normalize_angle(command->angle);
   min_turn_angle_ = abs(command->min_angle);
   initial_direction_ = (command->min_angle >= 0.0) ? 1.0 : -1.0;