# I cannot let the robot stop =(

**URL:** <https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383>\
**Category:** ROS Basics In 5 Days (C++)\
**Created:** [December 23, 2021, 4:07pm UTC](https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383 "2021-12-23T16:07:12Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![a13e5c2ddf294571](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/a/fbc32d/32.png) [@a13e5c2ddf294571](https://get-help.theconstruct.ai/u/a13e5c2ddf294571)\
**Post date:** [December 23, 2021, 4:07pm UTC](https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383/1 "2021-12-23T16:07:13Z")

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I finished Exercise 3.2, and I can run the robot correctly. However, I can not let the robot stop, even , which instruction should I use?

 ![image](https://get-help.robotigniteacademy.com/uploads/default/original/2X/5/5e4ed6f33e83ac704b4cbcd13dbce8e495084c15.png)

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**Author:** ![roalgoal](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/roalgoal/32/7280_2.png) [@roalgoal](https://get-help.theconstruct.ai/u/roalgoal)\
**Post date:** [December 24, 2021, 8:29am UTC](https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383/2 "2021-12-24T08:29:54Z")

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Hi, you could publish an extra zero velocity message at the end of your program. That is, when the robot has performed the desired behavior.

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**Author:** ![bayodesegun](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/bayodesegun/32/6966_2.png) [@bayodesegun](https://get-help.theconstruct.ai/u/bayodesegun)\
**Post date:** [December 24, 2021, 9:23am UTC](https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383/3 "2021-12-24T09:23:58Z")

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You can try this:

[How to stop your robot when ROS is shutting down - Knowledgebase - The Construct ROS Community (robotigniteacademy.com)](https://get-help.robotigniteacademy.com/t/how-to-stop-your-robot-when-ros-is-shutting-down/225)

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**Author:** ![bayodesegun](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/bayodesegun/32/6966_2.png) [@bayodesegun](https://get-help.theconstruct.ai/u/bayodesegun)\
**Post date:** [December 27, 2021, 12:51pm UTC](https://get-help.theconstruct.ai/t/i-cannot-let-the-robot-stop/14383/4 "2021-12-27T12:51:04Z")

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