diff --git a/.gitignore b/.gitignore
index f9ebf1074..eeb82282e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,4 +29,3 @@ _images*
 _out
 _site
 core
-/.project
diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml
index b3f3ca4eb..435a1950c 100644
--- a/carla_ros_bridge/config/settings.yaml
+++ b/carla_ros_bridge/config/settings.yaml
@@ -7,7 +7,7 @@ carla:
   NumberOfVehicles: 30
   NumberOfPedestrians: 10
   WeatherId: 1
-  Framesperepisode: -1
+  Framesperepisode: -1 # -1: run episode indefinitely until interrupted
   Episodes: 2
 
   sensors:
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index e35535cfb..d18137097 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -4,12 +4,11 @@ Rosbridge class:
 Class that handle communication between CARLA and ROS
 """
 import random
+from itertools import count
 
 from rosgraph_msgs.msg import Clock
 from tf2_msgs.msg import TFMessage
 import rospy
-from std_msgs.msg import Float32, Bool
-from itertools import count
 
 from carla.settings import CarlaSettings
 from carla_ros_bridge.control import InputController
@@ -55,14 +54,6 @@ class CarlaRosBridge(object):
         # creating input controller listener
         self.input_controller = InputController()
 
-        # control inputs - float std msgs
-        self.steer = Float32(0.0)
-        self.brake = Float32(0.0)
-        self.throttle = Float32(0.0)
-        # control inputs - Bool msgs
-        self.reverse = Bool(False)
-        self.hand_brake = Bool(False)
-
     def setup_carla_client(self, client, params):
         self.client = client
         self.param_sensors = params.get('sensors', {})
@@ -150,7 +141,7 @@ class CarlaRosBridge(object):
         self.client.start_episode(player_start)
 
         for frame in count():
-            if frame == self.frames_per_episode:
+            if (frame == self.frames_per_episode) or rospy.is_shutdown():
                 break
             measurements, sensor_data = self.client.read_data()
 
@@ -169,6 +160,9 @@ class CarlaRosBridge(object):
             for name, data in sensor_data.items():
                 self.sensors[name].process_sensor_data(data, self.cur_time)
 
+            # publish all messages
+            self.send_msgs()
+
             # handle control
             if rospy.get_param('carla_autopilot', True):
                 control = measurements.player_measurements.autopilot_control
@@ -177,13 +171,6 @@ class CarlaRosBridge(object):
                 control = self.input_controller.cur_control
                 self.client.send_control(**control)
 
-            self.steer.data = control.steer
-            self.throttle.data = control.throttle
-            self.brake.data = control.brake  
-
-            # publish all messages
-            self.send_msgs()
-
     def __enter__(self):
         return self
 
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
index a1f1d9080..519d81940 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
@@ -3,12 +3,12 @@ RosBridge class with rosbag support
 """
 
 import time
+from datetime import datetime
 
 from tf2_msgs.msg import TFMessage
 import rosbag
 import rospy
 import os
-from datetime import datetime
 
 from carla_ros_bridge.bridge import CarlaRosBridge
 
@@ -29,10 +29,6 @@ class CarlaRosBridgeWithBag(CarlaRosBridge):
         tf_msg = TFMessage(self.tf_to_publish)
         self.bag.write('tf', tf_msg, self.cur_time)
 
-        self.bag.write('steer', self.steer, self.cur_time)
-        self.bag.write('brake', self.brake, self.cur_time)
-        self.bag.write('gas', self.throttle, self.cur_time)
-
         super(CarlaRosBridgeWithBag, self).send_msgs()
 
     def __enter__(self):