diff --git a/src/main.cpp b/src/main.cpp
index caf0da9..f26baae 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -14,7 +14,7 @@ void stop_loop(int) {
 
 using namespace std;
 using namespace std::this_thread;
-
+using namespace std::chrono_literals;
 
 int main(int argc, char* argv[]) {
     //TCP socket connection
@@ -37,6 +37,7 @@ int main(int argc, char* argv[]) {
         op_result = drv->getHealth(healthinfo);
         if (SL_IS_OK(op_result)) {
             localizer.setLidarHealth(true);
+            localizer.sendMessage("strat", "ready", "1");
         }
         signal(SIGINT, stop_loop);
         while(true){
@@ -101,8 +102,6 @@ int main(int argc, char* argv[]) {
         drv->stop();
         drv->setMotorSpeed(0);
         drv->disconnect();
-    } else {
-        localizer.sendMessage("strat", "set health", "0");
     }
     delete *channel;
     delete drv;