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 4a5f062..b82ba3a 100644
--- a/src/rm_nav/rm_simple_move/src/simple_move.cpp
+++ b/src/rm_nav/rm_simple_move/src/simple_move.cpp
@@ -398,6 +398,12 @@ namespace rm_simpal_move
         RCLCPP_INFO(this->get_logger(), "收到新目标: mode=%s, x=%.2f, y=%.2f, angle=%.2f",
                     control_mode_ == 0 ? "PID" : "NAV",
                     msg->target_x, msg->target_y, msg->target_angle);
+
+        // 如果是 NAV 模式，立即发送导航目标
+        if (control_mode_ == 1) {
+            publish_nav_goal();
+            nav_goal_sent_ = true;
+        }
     }
 
     /**