diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index ee3aa673f1c..74b3f3707b3 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -300,7 +300,10 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   costmap_ros_->deactivate();
 
-  onGoalExit();
+  publishZeroVelocity();
+  for (auto & controller : controllers_) {
+    controller.second->reset();
+  }
   vel_publisher_->on_deactivate();
 
   remove_on_set_parameters_callback(dyn_params_handler_.get());