diff --git a/nav2_controller/include/nav2_controller/controller_server.hpp b/nav2_controller/include/nav2_controller/controller_server.hpp
index e2d3fd497a1..6e30e17f140 100644
--- a/nav2_controller/include/nav2_controller/controller_server.hpp
+++ b/nav2_controller/include/nav2_controller/controller_server.hpp
@@ -176,6 +176,10 @@ class ControllerServer : public nav2_util::LifecycleNode
    * @brief Calls velocity publisher to publish zero velocity
    */
   void publishZeroVelocity();
+  /**
+   * @brief Called on goal exit
+   */
+  void onGoalExit();
   /**
    * @brief Checks if goal is reached
    * @return true or false
@@ -267,6 +271,7 @@ class ControllerServer : public nav2_util::LifecycleNode
 
   double failure_tolerance_;
   bool use_realtime_priority_;
+  bool publish_zero_velocity_;
   rclcpp::Duration costmap_update_timeout_;
 
   // Whether we've published the single controller warning yet
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index ebb6987aa63..101e78a8015 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -64,6 +64,7 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
 
   declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
   declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false));
+  declare_parameter("publish_zero_velocity", rclcpp::ParameterValue(true));
   declare_parameter("costmap_update_timeout", 0.30);  // 300ms
 
   // The costmap node is used in the implementation of the controller
@@ -130,6 +131,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   get_parameter("speed_limit_topic", speed_limit_topic);
   get_parameter("failure_tolerance", failure_tolerance_);
   get_parameter("use_realtime_priority", use_realtime_priority_);
+  get_parameter("publish_zero_velocity", publish_zero_velocity_);
 
   costmap_ros_->configure();
   // Launch a thread to run the costmap node
@@ -476,7 +478,7 @@ void ControllerServer::computeControl()
         if (controllers_[current_controller_]->cancel()) {
           RCLCPP_INFO(get_logger(), "Cancellation was successful. Stopping the robot.");
           action_server_->terminate_all();
-          publishZeroVelocity();
+          onGoalExit();
           return;
         } else {
           RCLCPP_INFO_THROTTLE(
@@ -513,63 +515,63 @@ void ControllerServer::computeControl()
     }
   } catch (nav2_core::InvalidController & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::INVALID_CONTROLLER;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::ControllerTFError & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::TF_ERROR;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::NoValidControl & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::NO_VALID_CONTROL;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::FailedToMakeProgress & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::FAILED_TO_MAKE_PROGRESS;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::PatienceExceeded & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::PATIENCE_EXCEEDED;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::InvalidPath & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::INVALID_PATH;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::ControllerTimedOut & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::CONTROLLER_TIMED_OUT;
     action_server_->terminate_current(result);
     return;
   } catch (nav2_core::ControllerException & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::UNKNOWN;
     action_server_->terminate_current(result);
     return;
   } catch (std::exception & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
-    publishZeroVelocity();
+    onGoalExit();
     std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
     result->error_code = Action::Result::UNKNOWN;
     action_server_->terminate_current(result);
@@ -578,7 +580,7 @@ void ControllerServer::computeControl()
 
   RCLCPP_DEBUG(get_logger(), "Controller succeeded, setting result");
 
-  publishZeroVelocity();
+  onGoalExit();
 
   // TODO(orduno) #861 Handle a pending preemption and set controller name
   action_server_->succeeded_current();
@@ -746,6 +748,13 @@ void ControllerServer::publishZeroVelocity()
   velocity.header.frame_id = costmap_ros_->getBaseFrameID();
   velocity.header.stamp = now();
   publishVelocity(velocity);
+}
+
+void ControllerServer::onGoalExit()
+{
+  if (publish_zero_velocity_) {
+    publishZeroVelocity();
+  }
 
   // Reset the state of the controllers after the task has ended
   ControllerMap::iterator it;