diff --git a/src/node.cpp b/src/node.cpp
index 6639b82e..72ded17d 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -195,6 +195,7 @@ bool stop_motor(std_srvs::Empty::Request &req,
 
   ROS_DEBUG("Stop motor");
   drv->setMotorSpeed(0);
+  drv->stop();
   return true;
 }