diff --git a/unilabos/ros/nodes/presets/protocol_node.py b/unilabos/ros/nodes/presets/protocol_node.py
index 24e89703..25b9c11a 100644
--- a/unilabos/ros/nodes/presets/protocol_node.py
+++ b/unilabos/ros/nodes/presets/protocol_node.py
@@ -28,6 +28,9 @@ from unilabos.utils.log import error
 from unilabos.utils.type_check import serialize_result_info, get_result_info_str
 
 
+class ROS2ProtocolNodeTempError(Exception):
+    pass
+
 class ROS2ProtocolNode(BaseROS2DeviceNode):
     """
     ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
@@ -246,11 +249,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             time.sleep(action["action_kwargs"]["time"])
                             step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
                         else:
-                            result = await self.execute_single_action(**action)
-                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
-                            ret_info = json.loads(getattr(result, "return_info", "{}"))
-                            if not ret_info.get("suc", False):
-                                raise RuntimeError(f"Step {i + 1} failed.")
+                            try:
+                                result = await self.execute_single_action(**action)
+                                step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                                ret_info = json.loads(getattr(result, "return_info", "{}"))
+                                if not ret_info.get("suc", False):
+                                    raise RuntimeError(f"Step {i + 1} failed.")
+                            except ROS2ProtocolNodeTempError as ex:
+                                step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
                     elif isinstance(action, list):
                         # 如果是并行动作，同时执行
                         actions = action
@@ -327,6 +333,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         # 构建动作ID
         if action_name == "log_message":
             self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
+            raise ROS2ProtocolNodeTempError(f"[Protocol Log] {action_kwargs}")
         if device_id in ["", None, "self"]:
             action_id = f"/devices/{self.device_id}/{action_name}"
         else: