diff --git a/clearpath_robot/services/clearpath-discovery.service b/clearpath_robot/services/clearpath-discovery.service
index 78b1bb20..bbcc7fb8 100644
--- a/clearpath_robot/services/clearpath-discovery.service
+++ b/clearpath_robot/services/clearpath-discovery.service
@@ -9,6 +9,7 @@ Type=simple
 Restart=on-failure
 RestartSec=1
 ExecStart=/bin/bash -e /etc/clearpath/discovery-server-start
+TimeoutStopSec=2
 
 [Install]
 WantedBy=clearpath-robot.service
diff --git a/clearpath_robot/services/clearpath-manipulators.service b/clearpath_robot/services/clearpath-manipulators.service
index a83d5aaa..67b31295 100755
--- a/clearpath_robot/services/clearpath-manipulators.service
+++ b/clearpath_robot/services/clearpath-manipulators.service
@@ -7,6 +7,7 @@ After=clearpath-robot.service
 User=administrator
 Type=simple
 ExecStart=/usr/sbin/clearpath-manipulators-start
+TimeoutStopSec=2
 
 [Install]
 WantedBy=clearpath-robot.service
diff --git a/clearpath_robot/services/clearpath-platform.service b/clearpath_robot/services/clearpath-platform.service
index 7884546b..76dc3bdc 100755
--- a/clearpath_robot/services/clearpath-platform.service
+++ b/clearpath_robot/services/clearpath-platform.service
@@ -7,6 +7,7 @@ After=clearpath-robot.service
 User=administrator
 Type=simple
 ExecStart=/usr/sbin/clearpath-platform-start
+TimeoutStopSec=2
 
 [Install]
 WantedBy=clearpath-robot.service
diff --git a/clearpath_robot/services/clearpath-robot.service b/clearpath_robot/services/clearpath-robot.service
index fa67ba87..08f8850c 100644
--- a/clearpath_robot/services/clearpath-robot.service
+++ b/clearpath_robot/services/clearpath-robot.service
@@ -10,6 +10,7 @@ ExecStart=/usr/sbin/clearpath-robot-check
 RemainAfterExit=yes
 Restart=on-failure
 RestartSec=1
+TimeoutStopSec=2
 
 [Install]
 WantedBy=multi-user.target
diff --git a/clearpath_robot/services/clearpath-sensors.service b/clearpath_robot/services/clearpath-sensors.service
index d6beda3f..160d77ef 100755
--- a/clearpath_robot/services/clearpath-sensors.service
+++ b/clearpath_robot/services/clearpath-sensors.service
@@ -7,6 +7,7 @@ After=clearpath-robot.service
 User=administrator
 Type=simple
 ExecStart=/usr/sbin/clearpath-sensors-start
+TimeoutStopSec=2
 
 [Install]
 WantedBy=clearpath-robot.service
diff --git a/clearpath_robot/services/clearpath-vcan.service b/clearpath_robot/services/clearpath-vcan.service
index 4d57c259..d57fc2d8 100644
--- a/clearpath_robot/services/clearpath-vcan.service
+++ b/clearpath_robot/services/clearpath-vcan.service
@@ -8,6 +8,7 @@ Restart=on-failure
 User=root
 Type=forking
 ExecStart=/bin/bash -e /etc/clearpath/vcan-start
+TimeoutStopSec=2
 
 [Install]
 WantedBy=clearpath-robot.service