diff --git a/rm_gimbal_controllers/src/gimbal_base.cpp b/rm_gimbal_controllers/src/gimbal_base.cpp
index 2c10a4df..e98d628b 100644
--- a/rm_gimbal_controllers/src/gimbal_base.cpp
+++ b/rm_gimbal_controllers/src/gimbal_base.cpp
@@ -112,6 +112,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
 
       ctrls_.insert(std::make_pair(axis, std::make_unique<effort_controllers::JointVelocityController>()));
       pid_pos_.insert(std::make_pair(axis, std::make_unique<control_toolbox::Pid>()));
+      pos_des_in_limit_.insert(std::make_pair(axis, true));
       pos_state_pub_.insert(std::make_pair(
           axis, std::make_unique<realtime_tools::RealtimePublisher<rm_msgs::GimbalPosState>>(nh, "pos_state", 1)));
 
@@ -207,7 +208,7 @@ void Controller::setDes(const ros::Time& time, double yaw_des, double pitch_des)
   odom2gimbal_des.setRPY(0, pitch_des, yaw_des);
   tf2::Quaternion base2gimbal_des = odom2base.inverse() * odom2gimbal_des;
   for (const auto& it : joint_urdfs_)
-    pos_des_in_limit_.insert(std::make_pair(it.first, setDesIntoLimit(base2gimbal_des, it.second, base2gimbal_des)));
+    pos_des_in_limit_[it.first] = setDesIntoLimit(base2gimbal_des, it.second, base2gimbal_des);
   odom2gimbal_des_.transform.rotation = tf2::toMsg(odom2base * base2gimbal_des);
   odom2gimbal_des_.header.stamp = time;
   robot_state_handle_.setTransform(odom2gimbal_des_, "rm_gimbal_controllers");