diff --git a/ros/src/styx/server.py b/ros/src/styx/server.py
index 32d942a139..a356bfbfeb 100755
--- a/ros/src/styx/server.py
+++ b/ros/src/styx/server.py
@@ -14,11 +14,11 @@
 bridge = Bridge(conf)
 msgs = []
 
+dbw_enable = False
 
 @sio.on('connect')
 def connect(sid, environ):
     print("connect ", sid)
-    bridge.publish_dbw_status(True)
 
 def send(topic, data):
     s = 1
@@ -29,6 +29,10 @@ def send(topic, data):
 
 @sio.on('telemetry')
 def telemetry(sid, data):
+    global dbw_enable
+    if data["dbw_enable"] != dbw_enable:
+        dbw_enable = data["dbw_enable"]
+        bridge.publish_dbw_status(dbw_enable)
     bridge.publish_odometry(data)
     for i in range(len(msgs)):
         topic, data = msgs.pop(0)