diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index d64148f..5aa3f51 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -172,7 +172,33 @@ private:
         }
 
         if (data_safe)
+        {
+            RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
+                                                       << "\n  mcu_enabled: " << msg.mcu_enabled
+                                                       << "\n  brake: " << static_cast<int>(msg.brake)
+                                                       << "\n  gear: " << static_cast<int>(msg.gear)
+                                                       << "\n  rpm: " << msg.rpm
+                                                       << "\n  brake_time_ms: " << msg.brake_time_ms
+                                                       << "\n  angle: " << msg.angle
+                                                       << "\n  angle_speed: " << msg.angle_speed
+                                                       << "\n  main_brush_lift: " << msg.main_brush_lift
+                                                       << "\n  edge_brush_lift: " << msg.edge_brush_lift
+                                                       << "\n  vacuum: " << msg.vacuum
+                                                       << "\n  spray: " << msg.spray
+                                                       << "\n  mud_flap: " << msg.mud_flap
+                                                       << "\n  dust_shake: " << msg.dust_shake
+                                                       << "\n  left_light: " << msg.left_light
+                                                       << "\n  right_light: " << msg.right_light
+                                                       << "\n  night_light: " << msg.night_light
+                                                       << "\n  brake_light: " << msg.brake_light
+                                                       << "\n  headlight: " << msg.headlight
+                                                       << "\n  main_brush_spin: " << msg.main_brush_spin
+                                                       << "\n  edge_brush_spin: " << msg.edge_brush_spin
+                                                       << "\n  main_brush_pwm: " << static_cast<int>(msg.main_brush_pwm)
+                                                       << "\n  edge_brush_pwm: " << static_cast<int>(msg.edge_brush_pwm));
+
             pub_->publish(msg); // 发布控制消息
+        }
     }
 
     // CAN反馈回调函数（用于获取当前转向角度）