diff --git a/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
index b0170291..c03d168c 100755
--- a/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
+++ b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
@@ -732,6 +732,12 @@ void ClearpathDiagnosticUpdater::setup_topic_rate_diagnostics()
 template<class MsgType> void ClearpathDiagnosticUpdater::add_rate_diagnostic(
   const std::string topic_name, const double rate)
 {
+  // Skip disabled topics (rate of 0 means the topic is not published)
+  if (rate == 0.0) {
+    RCLCPP_INFO(this->get_logger(), "Skipping diagnostic for %s (rate is 0)", topic_name.c_str());
+    return;
+  }
+
   // Store the rate so that it can be accessed via a pointer and is not deleted
   rates_.push_back(rate);
 
diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py
index 7cdd47ca..a16395cf 100644
--- a/clearpath_generator_common/clearpath_generator_common/param/platform.py
+++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py
@@ -656,9 +656,12 @@ def add_topic(self, sensor: BaseSensor, topic_key: str) -> None:
             :param sensor: The sensor object from which the topic info will be gotten
             :param topic_key: The key used to identify the topic to be monitored
             """
+            rate = float(sensor.get_topic_rate(topic_key))
+            if rate == 0.0:
+                return
             self.diag_dict[sensor.get_topic_name(topic_key, local=True)] = {
                 'type': sensor.get_topic_type(topic_key),
-                'rate': float(sensor.get_topic_rate(topic_key))
+                'rate': rate
             }
 
     class FoxgloveBridgeParam(BaseParam):