diff --git a/README.md b/README.md
index 7967b0a..5fc73cf 100644
--- a/README.md
+++ b/README.md
@@ -162,3 +162,10 @@ You can use any open-source mqtt client to issue these commands and monitor vari
   mosquitto_pub -d -h sandbox.composiv.ai -p 1883  -t "ai.composiv.sandbox.f1tenth:simulator-monster-01/stack/commands/active" -m '{"name":"Composiv Learning Simulator with Gap Follwer","context":"eteration_office","stackId":"ai.composiv.sandbox.f1tenth:composiv_simulator_gf.launch","stack":[{"thingId":"ai.composiv.sandbox.f1tenth:composiv_simulator.launch"}],"node":[{"name":"cass_gap_follower","pkg":"cass_gap_follower","exec":"cass_gap_follower","param":[{"from":"$(find cass_gap_follower)/params.yaml"}]}]}'
 
 ```
+
+
+## Controlling the F1Tenth Car (navigate on/off) 
+
+```bash
+rostopic pub --once /mux std_msgs/Int32MultiArray "{layout: { dim: [], data_offset: 0}, data: [0, 0, 0, 0, 1 , 0] }"
+```
diff --git a/src/launch_plugin.py b/src/launch_plugin.py
index f09fe48..da36565 100755
--- a/src/launch_plugin.py
+++ b/src/launch_plugin.py
@@ -116,9 +116,12 @@ def handle_kill(self,req):
         if plan.planned:
             # context = json.loads(msg.context)
             # self.bootstrap(context)
-            stack =  json.loads(plan.planned.stack)
-            #Apply is different than start kill etc. It will use the node "action"
-            self.device.kill(stack) 
+            try:
+                stack =  json.loads(plan.planned.stack)
+                #Apply is different than start kill etc. It will use the node "action"
+                self.device.kill(stack) 
+            except Exception as error:
+              print('Cannot parse stack: {}'.format(error))
 
             result = PluginResponse(resultCode=0, errorMessage="", errorDescription="")
             plan.result = result