diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
index c4ba1424cf45e..bd8045e653a16 100644
--- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
+++ b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
@@ -430,6 +430,9 @@ void FreespacePlannerNode::onTimer()
   }
 
   if (is_completed_) {
+    partial_trajectory_.header = odom_->header;
+    const auto stop_trajectory = createStopTrajectory(partial_trajectory_);
+    trajectory_pub_->publish(stop_trajectory);
     return;
   }