diff --git a/src/autonomy/pl/src/pl_node.cpp b/src/autonomy/pl/src/pl_node.cpp
index d82ba01..1c5c2d3 100644
--- a/src/autonomy/pl/src/pl_node.cpp
+++ b/src/autonomy/pl/src/pl_node.cpp
@@ -107,7 +107,7 @@ class pl_node : public rclcpp::Node
             pthread_create(&pl_thread_t, NULL, pl_thread, NULL);
             LOG_INFO("started");
             is_start = 1;
-            task_status = TaskStatus::PENDING;
+            task_status = TaskStatus::RUNNING;
         }
         else if (is_start == 1 && msg->task_status == 0)
         {
@@ -231,9 +231,22 @@ class pl_node : public rclcpp::Node
 
     void timer_callback_task()
     {
+        // 仅在任务启动后才发布任务状态，避免初始化时的 PENDING 状态覆盖 task_manager 的 RUNNING 状态
+        if (is_start == 0)
+        {
+            return;
+        }
+
         // 创建消息
         sweeper_interfaces::msg::Task message;
         message.task_status = task_status;
+        message.task_id = current_task_id;
+        message.task_name = current_task_name;
+        message.mode = current_task_mode;
+        message.duration = current_task_duration;
+        message.count = current_task_count;
+        message.route_name = current_route_name;
+        message.file_name = current_file_name;
         task_publisher_->publish(message);
     }