diff --git a/include/config.hpp b/include/config.hpp
index 51953b2..ec00f22 100644
--- a/include/config.hpp
+++ b/include/config.hpp
@@ -26,12 +26,8 @@ constexpr std::string_view MQTT_USERNAME = "lzwc";
 constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
 
 // MQTT Topics
-    constexpr const char* TOPIC_PREFIX = "unitree/go2";
-    constexpr const char* TOPIC_CMD = "cmd";
-    constexpr const char* TOPIC_STATE = "state";
-    constexpr const char* TOPIC_HEARTBEAT = "heartbeat";
-    constexpr const char* TOPIC_RESPONSE = "response";
-    constexpr const char* TOPIC_ERROR = "error";
+constexpr const char* TOPIC_PREFIX = "unitree/go2";
+constexpr const char* TOPIC_CMD = "cmd";
 
 // Safety settings
 constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
diff --git a/src/config.cpp b/src/config.cpp
index 1259304..1962707 100644
--- a/src/config.cpp
+++ b/src/config.cpp
@@ -14,15 +14,11 @@ void CustomConfig::loadDefaults() {
     topic_prefix = TOPIC_PREFIX;
     topic_cmd = TOPIC_CMD;
     topic_state = TOPIC_STATE;
-    topic_heartbeat = TOPIC_HEARTBEAT;
-    topic_response = TOPIC_RESPONSE;
-    topic_error = TOPIC_ERROR;
     
     // Robot control settings
     control_frequency = CONTROL_FREQUENCY;
     
     // Safety settings
-    command_timeout = COMMAND_TIMEOUT;
     max_linear_velocity = MAX_LINEAR_VELOCITY;
     max_angular_velocity = MAX_ANGULAR_VELOCITY;
     emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;