diff --git a/src/stageros.cpp b/src/stageros.cpp
index b6a5869..4e5d2f6 100644
--- a/src/stageros.cpp
+++ b/src/stageros.cpp
@@ -48,6 +48,7 @@
 #include <nav_msgs/Odometry.h>
 #include <geometry_msgs/Twist.h>
 #include <rosgraph_msgs/Clock.h>
+#include <std_msgs/Int8.h>
 
 #include <std_srvs/Empty.h>
 
@@ -61,6 +62,7 @@
 #define BASE_SCAN "base_scan"
 #define BASE_POSE_GROUND_TRUTH "base_pose_ground_truth"
 #define CMD_VEL "cmd_vel"
+#define STALLED "stalled"
 
 // Our node
 class StageNode
@@ -89,6 +91,7 @@ class StageNode
         //ros publishers
         ros::Publisher odom_pub; //one odom
         ros::Publisher ground_truth_pub; //one ground truth
+        ros::Publisher stall_pub; // stall publisher
 
         std::vector<ros::Publisher> image_pubs; //multiple images
         std::vector<ros::Publisher> depth_pubs; //multiple depths
@@ -354,7 +357,8 @@ StageNode::SubscribeModels()
         new_robot->odom_pub = n_.advertise<nav_msgs::Odometry>(mapName(ODOM, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
         new_robot->ground_truth_pub = n_.advertise<nav_msgs::Odometry>(mapName(BASE_POSE_GROUND_TRUTH, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
         new_robot->cmdvel_sub = n_.subscribe<geometry_msgs::Twist>(mapName(CMD_VEL, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdvelReceived, this, r, _1));
-
+        new_robot->stall_pub = n_.advertise<std_msgs::Int8>(mapName(STALLED, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
+        
         for (size_t s = 0;  s < new_robot->lasermodels.size(); ++s)
         {
             if (new_robot->lasermodels.size() == 1)
@@ -503,13 +507,15 @@ StageNode::WorldCallback()
         odom_msg.twist.twist.linear.y = v.y;
         odom_msg.twist.twist.angular.z = v.a;
 
-        //@todo Publish stall on a separate topic when one becomes available
-        //this->odomMsgs[r].stall = this->positionmodels[r]->Stall();
-        //
         odom_msg.header.frame_id = mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
         odom_msg.header.stamp = sim_time;
-
+        
         robotmodel->odom_pub.publish(odom_msg);
+        
+        //publish current stall state
+        std_msgs::Int8 stall_msg;
+        stall_msg.data = robotmodel->positionmodel->Stalled();
+        robotmodel->stall_pub.publish(stall_msg);
 
         // broadcast odometry transform
         tf::Quaternion odomQ;