diff --git a/rmp220_teleop/rmp220_teleop.py b/rmp220_teleop/rmp220_teleop.py
index 07f9cb6..67461cd 100644
--- a/rmp220_teleop/rmp220_teleop.py
+++ b/rmp220_teleop/rmp220_teleop.py
@@ -9,7 +9,6 @@ class TeleopTwistJoy(Node):
         super().__init__('teleop_twist_joy')
         self.cmd_vel_pub = self.create_publisher(Twist, '/diffbot_base_controller/cmd_vel_unstamped', 10)
         self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
-        self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz
         self.twist = Twist()
         self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini
         self.limit = 1 * self.vFactor
@@ -27,8 +26,9 @@ class TeleopTwistJoy(Node):
         self.twist.linear.x = self.limit * joy_msg.axes[1]
         self.twist.angular.z = self.limit * joy_msg.axes[0] * 1 * 3.141592
 
-    def timer_callback(self):
-        self.cmd_vel_pub.publish(self.twist)
+        # Publish the twist message only when joystick keys are pressed
+        if joy_msg.buttons[4] or joy_msg.buttons[5] or joy_msg.axes[1] != 0.0 or joy_msg.axes[0] != 0.0:
+            self.cmd_vel_pub.publish(self.twist)
 
 
 def main(args=None):
@@ -39,7 +39,6 @@ def main(args=None):
     except KeyboardInterrupt:
         teleop_twist_joy.destroy_node()
         rclpy.shutdown()
-        
 
 if __name__ == '__main__':
     main()