diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index b263e47df161a15954702e14cfb772d7e0afac21..cb00d8fccff476a2167b8f24bd181eddef456787 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -381,6 +381,8 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
   {
     // update diagnostics
     this->diagnostic_.update();
+    
+    ros::WallDuration(0.1).sleep();
   }
 
   // stop ros