diff --git a/src/rm_nav/rm_simple_move/src/simple_move.cpp b/src/rm_nav/rm_simple_move/src/simple_move.cpp
index c4f9993..d7e7bcc 100644
--- a/src/rm_nav/rm_simple_move/src/simple_move.cpp
+++ b/src/rm_nav/rm_simple_move/src/simple_move.cpp
@@ -132,13 +132,9 @@ namespace rm_simpal_move
      */
     void RMSimpleMove::timer_callback()
     {
-        if (!has_goal_) {
-            return;
-        }
-
         try
         {
-            // 获取当前位置
+            // 获取当前位置（始终发布，不管有没有目标）
             auto trans = tf_buffer_.lookupTransform("map", "base_link", tf2::TimePointZero);
             AHRS_GetEulr(&current_eulr_, trans.transform.rotation);
 
@@ -152,6 +148,11 @@ namespace rm_simpal_move
             current_pose_msg.pose.orientation = trans.transform.rotation;
             current_pose_pub_->publish(current_pose_msg);
 
+            // 如果没有目标，只发布当前位置，不执行控制
+            if (!has_goal_) {
+                return;
+            }
+
             // 发布目标点 TF
             geometry_msgs::msg::TransformStamped goal_transform;
             goal_transform.header.stamp = this->get_clock()->now();