diff --git a/aerial_robot_base/scripts/gazebo_shutdown.py b/aerial_robot_base/scripts/gazebo_shutdown.py
new file mode 100755
index 000000000..ffd6206a9
--- /dev/null
+++ b/aerial_robot_base/scripts/gazebo_shutdown.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+# Code courtsy of Sihoj and cosmicog on Github
+# https://github.com/Sihoj
+# https://github.com/cosmicog
+
+
+import sys, signal, subprocess, time
+
+
+timeout_before_kill = 0.1  # [s]
+timeout_after_kill = 0.1  # [s]
+
+
+def signal_handler(sig, frame):
+    time.sleep(timeout_before_kill)
+    subprocess.call("killall -q gzclient & killall -q gzserver", shell=True)
+    time.sleep(timeout_after_kill)
+    subprocess.call("killall -9 -q gzclient & killall -9 -q gzserver", shell=True)
+    sys.exit(0)
+
+
+if __name__ == "__main__":
+    signal.signal(signal.SIGINT, signal_handler)
+    input("aaaaaaa")
\ No newline at end of file
diff --git a/robots/mini_quadrotor/launch/bringup.launch b/robots/mini_quadrotor/launch/bringup.launch
index d3382300e..b3937696e 100644
--- a/robots/mini_quadrotor/launch/bringup.launch
+++ b/robots/mini_quadrotor/launch/bringup.launch
@@ -99,4 +99,6 @@
     <arg name="spawn_yaw" value="$(arg spawn_yaw)" />
   </include>
 
+  <node name="gzterminate" pkg="aerial_robot_base" type="gazebo_shutdown.py" />
+
 </launch>