diff --git a/RosAria.cpp b/RosAria.cpp
index d35cfad..4bc9300 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -685,6 +685,10 @@ void RosAriaNode::publish()
   if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
   {
     robot->comInt(ArCommands::ESTOP,0);
+        robot->setVel(0);
+    if(robot->hasLatVel())
+      robot->setLatVel(0);
+    robot->setRotVel(0);
     // ROS_INFO("WATCHDOG %d", WATCHDOG);
   }
 }