From 6227a8a18c071e6a55a397770404d740c424df81 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Thu, 14 May 2026 16:06:52 +0800
Subject: [PATCH] When the task is stopped, FU publishes nothing

---
 src/autonomy/fu/src/fu_node.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index da42e58..aad058c 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -862,12 +862,6 @@ class fu_node : public rclcpp::Node
 
             publishControlCommand();
         }
-        else
-        {
-            state_machine_->publish_speed = 0;
-            state_machine_->publish_angle = 0;
-            publishControlCommand(false, true);
-        }
     }
 
     // =====================================================================