diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index 157fef079711e741470cab9e40f857271e1a97ae..05a025c3732c60159ea4039f89f774566b4dd3de 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -91,6 +91,7 @@ namespace armarx::nav::components
         updateContext();
 
         server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
+        
         server::Navigator navigator{stack, scene, executor};
 
         navigator.moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
diff --git a/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h b/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
index 458ed29e3c8cb15e19d9c4ee3e2920c3ceb0020a..218304c48d147fb3b1e0c966ad427152c0935801 100644
--- a/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
+++ b/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
@@ -1,6 +1,7 @@
 #pragma once
 
 // RobotAPI
+#include <atomic>
 #include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
 // Navigation
@@ -21,10 +22,15 @@ namespace armarx::nav::server
 
         void move(const core::Twist &twist);
 
+        void disableAndStop();
+        void enable();
+
     private:
 
         PlatformUnitInterfacePrx platformUnit;
 
+        std::atomic_bool enabled{true};
+
     };
 
 }