diff --git a/scripts/map_changer b/scripts/map_changer
index 10e3792..0232404 100755
--- a/scripts/map_changer
+++ b/scripts/map_changer
@@ -6,6 +6,7 @@
 from std_msgs.msg import UInt16
 from nav_msgs.srv import LoadMap
 from std_srvs.srv import Empty
+from std_srvs.srv import Trigger
 
 
 
@@ -32,6 +33,8 @@
         ## Service clients
         self.change_map = rospy.ServiceProxy("/change_map", LoadMap)
         self.amcl_update = rospy.ServiceProxy("/request_nomotion_update", Empty)
+        self.stop_nav = rospy.ServiceProxy("/stop_wp_nav", Trigger)
+        self.resume_nav = rospy.ServiceProxy("/resume_nav", Trigger)
         return
     
 
@@ -45,6 +48,8 @@
 
 
     def change_map_service_call(self):
+        self.stop_nav()
+        rospy.sleep(0.5)
         self.update_amcl_call()
         rospy.wait_for_service("/change_map")
         try:
@@ -52,6 +57,7 @@
             if res.result == 0:
                 rospy.loginfo("Successfully changed the map")
                 self.update_amcl_call()
+                self.resume_nav()
                 return True
             else:
                 rospy.logerr("Failed to change the map: result=", res.result)
@@ -63,7 +69,7 @@
 
     def update_amcl_call(self):
         rospy.wait_for_service("/request_nomotion_update")
-        for i in range(0,5):
+        for i in range(0, 5):
             self.amcl_update()
             rospy.sleep(0.5)