diff --git a/humanoid_modules/src/walk_module.cpp b/humanoid_modules/src/walk_module.cpp
index 11de7973854e9d11b73f15edf05cbfdf54f2dcd7..de75ec9fe7ff54b7794f6eb8731265e0e8aeb88d 100644
--- a/humanoid_modules/src/walk_module.cpp
+++ b/humanoid_modules/src/walk_module.cpp
@@ -82,11 +82,11 @@ void CWalkModule::state_machine(void)
                               if(this->cancel_pending)
                               {
                                 this->cancel_pending=false;
-                                this->cmd_vel_timer.stop();
                                 this->state=WALK_MODULE_WAIT;
                               }
                               break;
     case WALK_MODULE_WAIT: ROS_INFO("CWalkModule : state WAIT");
+                           this->cmd_vel_timer.stop();
                            if(this->walking)
                            {
                              if(this->start_walking)