diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
index 17c9ee718d1..1c42ff44fb2 100644
--- a/nav2_velocity_smoother/src/velocity_smoother.cpp
+++ b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -216,14 +216,13 @@ void VelocitySmoother::smootherTimer()
 
   auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
 
-  // Check for velocity timeout. If nothing received, publish zeros to stop robot
+  // Check for velocity timeout. If nothing received, publish zeros to apply deceleration
   if (now() - last_command_time_ > velocity_timeout_) {
-    last_cmd_ = geometry_msgs::msg::Twist();
-    if (!stopped_) {
-      smoothed_cmd_pub_->publish(std::move(cmd_vel));
+    if (last_cmd_ == geometry_msgs::msg::Twist() || stopped_) {
+      stopped_ = true;
+      return;
     }
-    stopped_ = true;
-    return;
+    *command_ = geometry_msgs::msg::Twist();
   }
 
   stopped_ = false;
@@ -276,16 +275,12 @@ void VelocitySmoother::smootherTimer()
   cmd_vel->angular.z = applyConstraints(
     current_.angular.z, command_->angular.z, max_accels_[2], max_decels_[2], eta);
 
-  // If open loop, assume we achieved it
-  if (open_loop_) {
-    last_cmd_ = *cmd_vel;
-  }
-
   // Apply deadband restrictions & publish
   cmd_vel->linear.x = fabs(cmd_vel->linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->linear.x;
   cmd_vel->linear.y = fabs(cmd_vel->linear.y) < deadband_velocities_[1] ? 0.0 : cmd_vel->linear.y;
   cmd_vel->angular.z = fabs(cmd_vel->angular.z) <
     deadband_velocities_[2] ? 0.0 : cmd_vel->angular.z;
+  last_cmd_ = *cmd_vel;
   smoothed_cmd_pub_->publish(std::move(cmd_vel));
 }