diff --git a/xarm_moveit_config/launch/_robot_moveit_common.launch.py b/xarm_moveit_config/launch/_robot_moveit_common.launch.py
index b4033c8f..863c4d65 100644
--- a/xarm_moveit_config/launch/_robot_moveit_common.launch.py
+++ b/xarm_moveit_config/launch/_robot_moveit_common.launch.py
@@ -251,6 +251,7 @@ def launch_setup(context, *args, **kwargs):
             planning_scene_monitor_parameters,
             # sensor_manager_parameters,
             {'use_sim_time': use_sim_time},
+            {'publish_robot_description_semantic': True},
         ],
     )