From 8a4cdb51dac631d72d70e4d173660a25dccb41bd Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Tue, 20 Oct 2015 11:01:54 +0200
Subject: [PATCH] Made sure to stop any executing trajectory when the driver is
 halted

---
 src/ur_driver.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index cdbffb1..52be630 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -291,6 +291,9 @@ bool UrDriver::start() {
 }
 
 void UrDriver::halt() {
+	if (executing_traj_) {
+		UrDriver::stopTraj();
+	}
 	sec_interface_->halt();
 	rt_interface_->halt();
 	close(incoming_sockfd_);