diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index b71542c4..effe3ead 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -176,6 +176,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 			goalTopic_,
 			pathTopic_);
 	goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, _1, _2));
+	goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this);
 }
 
 GuiWrapper::~GuiWrapper()
@@ -265,6 +266,12 @@ void GuiWrapper::goalPathCallback(
 	this->post(new RtabmapGlobalPathEvent(goalMsg->node_id, goalMsg->node_label, poses));
 }
 
+void GuiWrapper::goalReachedCallback(
+		const std_msgs::BoolConstPtr & value)
+{
+	this->post(new RtabmapGoalStatusEvent(value->data?1:-1));
+}
+
 void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
 {
 	std::map<int, Signature> signatures;
diff --git a/src/GuiWrapper.h b/src/GuiWrapper.h
index 7b3b9943..bb93a46d 100644
--- a/src/GuiWrapper.h
+++ b/src/GuiWrapper.h
@@ -45,6 +45,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sensor_msgs/LaserScan.h>
 #include <nav_msgs/Odometry.h>
 #include <nav_msgs/Path.h>
+#include <std_msgs/Bool.h>
 
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
@@ -75,6 +76,7 @@ protected:
 private:
 	void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
 	void goalPathCallback(const rtabmap_ros::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
+	void goalReachedCallback(const std_msgs::BoolConstPtr & value);
 
 	void setupCallbacks(
 			bool subscribeDepth,
@@ -220,6 +222,7 @@ private:
 
 	message_filters::Subscriber<rtabmap_ros::Goal> goalTopic_;
 	message_filters::Subscriber<nav_msgs::Path> pathTopic_;
+	ros::Subscriber goalReachedTopic_;
 
 	ros::Subscriber defaultSub_; // odometry only
 	std::vector<image_transport::SubscriberFilter*> imageSubs_;