diff --git a/off_highway_can/include/off_highway_can/receiver.hpp b/off_highway_can/include/off_highway_can/receiver.hpp
index 712b2d3..ad44f5e 100644
--- a/off_highway_can/include/off_highway_can/receiver.hpp
+++ b/off_highway_can/include/off_highway_can/receiver.hpp
@@ -141,6 +141,8 @@ class Receiver : public rclcpp::Node
   const bool use_fd_{false};
   /// Use J1939 protocol, defaults to false if J1939 protocol handling is not implemented for sensor
   bool use_j1939_{false};
+  /// Store the timeout status
+  bool is_timeout_{false};
 
 private:
   /**
@@ -175,7 +177,6 @@ class Receiver : public rclcpp::Node
   /// information
   Messages messages_;
 
-
   double timeout_;
   double watchdog_frequency_;
 };
diff --git a/off_highway_can/src/receiver.cpp b/off_highway_can/src/receiver.cpp
index e66f7c6..dbf6584 100644
--- a/off_highway_can/src/receiver.cpp
+++ b/off_highway_can/src/receiver.cpp
@@ -79,7 +79,8 @@ void Receiver::stop()
 
 void Receiver::callback_watchdog()
 {
-  if ((now() - last_message_received_).seconds() > timeout_) {
+  is_timeout_ = (now() - last_message_received_).seconds() > timeout_;
+  if (is_timeout_) {
     RCLCPP_WARN(get_logger(), "Timeout of watchdog for receiving node %s", get_name());
     force_diag_update();
     last_message_received_ = now();
@@ -110,11 +111,9 @@ void Receiver::diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat) c
 {
   using diagnostic_msgs::msg::DiagnosticStatus;
 
-  bool timeout = (now() - last_message_received_).seconds() > timeout_;
+  stat.add("Timeout", is_timeout_);
 
-  stat.add("Timeout", timeout);
-
-  if (timeout) {
+  if (is_timeout_) {
     stat.summary(DiagnosticStatus::ERROR, "Error");
   } else {
     stat.summary(DiagnosticStatus::OK, "Ok");
diff --git a/off_highway_general_purpose_radar/src/receiver.cpp b/off_highway_general_purpose_radar/src/receiver.cpp
index 04c3700..1100e76 100644
--- a/off_highway_general_purpose_radar/src/receiver.cpp
+++ b/off_highway_general_purpose_radar/src/receiver.cpp
@@ -228,7 +228,7 @@ void Receiver::manage_targets()
 
 void Receiver::publish_targets()
 {
-  if (pub_targets_->get_subscription_count() == 0) {
+  if (pub_targets_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }
 
@@ -247,7 +247,7 @@ void Receiver::publish_targets()
 
 void Receiver::publish_pcl()
 {
-  if (pub_targets_pcl_->get_subscription_count() == 0) {
+  if (pub_targets_pcl_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }
 
diff --git a/off_highway_radar/src/receiver.cpp b/off_highway_radar/src/receiver.cpp
index be6d3ae..138b583 100644
--- a/off_highway_radar/src/receiver.cpp
+++ b/off_highway_radar/src/receiver.cpp
@@ -222,7 +222,7 @@ void Receiver::manage_objects()
 
 void Receiver::publish_objects()
 {
-  if (pub_objects_->get_subscription_count() == 0) {
+  if (pub_objects_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }
 
@@ -241,7 +241,7 @@ void Receiver::publish_objects()
 
 void Receiver::publish_pcl()
 {
-  if (pub_objects_pcl_->get_subscription_count() == 0) {
+  if (pub_objects_pcl_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }
 
diff --git a/off_highway_uss/src/receiver.cpp b/off_highway_uss/src/receiver.cpp
index f792477..88b7b83 100644
--- a/off_highway_uss/src/receiver.cpp
+++ b/off_highway_uss/src/receiver.cpp
@@ -271,7 +271,7 @@ void Receiver::manage_and_publish_objects()
 
 void Receiver::publish_objects()
 {
-  if (pub_objects_->get_subscription_count() == 0) {
+  if (pub_objects_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }
 
@@ -290,7 +290,7 @@ void Receiver::publish_objects()
 
 void Receiver::publish_pcl()
 {
-  if (pub_objects_pcl_->get_subscription_count() == 0) {
+  if (pub_objects_pcl_->get_subscription_count() == 0 || is_timeout_) {
     return;
   }