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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -1035,6 +1035,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/_sources/configuration/packages/configuring-controller-server.rst.txt b/_sources/configuration/packages/configuring-controller-server.rst.txt
@@ -36,6 +36,17 @@ Parameters
   Description
     Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
 
+:publish_zero_velocity:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           true
+  ============== =======
+
+  Description
+    Whether to publish a zero velocity command on goal exit. This is useful for stopping the robot when a goal terminates.
+
 :action_server_result_timeout:
 
   ====== ======= ======= 

diff --git a/_sources/migration/Jazzy.rst.txt b/_sources/migration/Jazzy.rst.txt
@@ -91,3 +91,11 @@ Default value:
 
 - false
 
+Option to disable zero velocity publishing on goal exit
+*******************************************************
+
+In `PR #4675 <https://github.com/ros-navigation/navigation2/pull/4675>`_ a ``publish_zero_velocity`` parameter was introduced for the `Controller server </configuration/packages/configuring-controller-server.html#controller-server>`_ in order to disable zero velocity publishing on goal exit.
+
+Default value:
+
+- true
diff --git a/about/index.html b/about/index.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/about/related_projects.html b/about/related_projects.html
@@ -1036,6 +1036,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/about/robots.html b/about/robots.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/index.html b/behavior_trees/index.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>

diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -1037,6 +1037,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 </ul>
 </li>
 </ul>