diff --git a/micro_ros_agent/include/agent/Agent.hpp b/micro_ros_agent/include/agent/Agent.hpp
index 0b62aa7..3dc71bc 100644
--- a/micro_ros_agent/include/agent/Agent.hpp
+++ b/micro_ros_agent/include/agent/Agent.hpp
@@ -62,6 +62,8 @@ public:
 
     void run();
 
+    void stop();
+
     void add_callbacks();
 
 private:
diff --git a/micro_ros_agent/src/agent/Agent.cpp b/micro_ros_agent/src/agent/Agent.cpp
index 847cadd..933ab49 100644
--- a/micro_ros_agent/src/agent/Agent.cpp
+++ b/micro_ros_agent/src/agent/Agent.cpp
@@ -179,6 +179,11 @@ void Agent::run()
     return xrce_dds_agent_instance_.run();
 }
 
+void Agent::stop()
+{
+    return xrce_dds_agent_instance_.stop();
+}
+
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {