diff --git a/franka_gazebo/test/franka_hw_sim_gazebo_test.cpp b/franka_gazebo/test/franka_hw_sim_gazebo_test.cpp
index 5ab21af36..081664508 100644
--- a/franka_gazebo/test/franka_hw_sim_gazebo_test.cpp
+++ b/franka_gazebo/test/franka_hw_sim_gazebo_test.cpp
@@ -1,9 +1,17 @@
+#include <actionlib/client/simple_action_client.h>
 #include <franka/robot_state.h>
+#include <franka_gazebo/franka_gripper_sim.h>
 #include <franka_gazebo/joint.h>
 #include <franka_gazebo/statemachine.h>
+#include <franka_gripper/MoveAction.h>
+#include <franka_msgs/ErrorRecoveryAction.h>
+#include <franka_msgs/FrankaState.h>
+#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/WrenchStamped.h>
 #include <gtest/gtest.h>
 #include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+#include <std_srvs/SetBool.h>
 #include <array>
 #include <boost_sml/sml.hpp>
 #include <map>
@@ -11,7 +19,13 @@
 #include <string>
 
 using namespace franka_gazebo;
+using franka::RobotMode;
 namespace sml = boost::sml;
+
+// NOTE: Keep a global node handle in memory in order for all tests to be executed sequentially
+// If each test or fixture declares its own node handle only the first test will be executed correctly
+std::unique_ptr<ros::NodeHandle> nh;
+
 TEST(
 #if ROS_VERSION_MINIMUM(1, 15, 13)
     FrankaHWSim, /* noetic & newer */
@@ -277,8 +291,198 @@ TEST_F(StateMachineFixture,
   ASSERT_EQ(state.ddq_d, zeros);
 }
 
+struct FrankaHWSimFixture : public ::testing::Test {
+ private:
+  double start_;
+
+ public:
+  ros::ServiceClient user_stop;
+  std::unique_ptr<actionlib::SimpleActionClient<franka_gripper::MoveAction>> gripper;
+  std::unique_ptr<actionlib::SimpleActionClient<franka_msgs::ErrorRecoveryAction>> error_recovery;
+
+  virtual void SetUp() {
+    start_ = ros::Time::now().toSec();
+    user_stop = nh->serviceClient<std_srvs::SetBool>("set_user_stop");
+    gripper = std::make_unique<actionlib::SimpleActionClient<franka_gripper::MoveAction>>(
+        "/franka_gripper/move");
+    error_recovery =
+        std::make_unique<actionlib::SimpleActionClient<franka_msgs::ErrorRecoveryAction>>(
+            "/franka_control/error_recovery");
+  }
+
+  double now() { return ros::Time::now().toSec() - start_; }
+
+  void openGripper() {
+    franka_gripper::MoveGoal goal;
+    goal.speed = 0.1;
+    goal.width = franka_gazebo::kMaxFingerWidth;
+    gripper->sendGoalAndWait(goal, ros::Duration(5));
+    auto result = gripper->getResult();
+    ASSERT_TRUE(result->success) << "Failed to open the gripper, error: " << result->error;
+  }
+  void closeGripper() {
+    franka_gripper::MoveGoal goal;
+    goal.speed = 0.1;
+    goal.width = 0.0;
+      gripper->sendGoalAndWait(goal, ros::Duration(5));
+      auto result = gripper->getResult();
+      ASSERT_TRUE(result->success) << "Failed to close the gripper, error: " << result->error;
+  }
+
+  void errorRecovery() {
+    error_recovery->sendGoalAndWait(franka_msgs::ErrorRecoveryGoal(), ros::Duration(5));
+  }
+
+  std_srvs::SetBool::Response setUserStop(bool pressed) {
+    std_srvs::SetBool service;
+    service.request.data = pressed;
+    user_stop.call(service);
+    return service.response;
+  }
+
+  virtual void TearDown() {
+    closeGripper();
+    setUserStop(false);
+    errorRecovery();
+  }
+};
+
+TEST_F(FrankaHWSimFixture, pressing_user_stop_stops_the_arm_joints) {
+  // Test procedure:
+  // Command a circular motion to the impedance controller to get the joints moving
+  // After some time (user_stop_time) press the user stop, let the joints stop as fast as possible
+  // After again some time (assert_start_time) measure the velocities of all joints
+  // After again some time (assert_end_time) verify if the average of the velocities is below some
+  // threshold. Have to filter because velocity signal is noisy
+
+  double radius = 0.10;
+  double frequency = 0.5;
+  double user_stop_time = 3;
+  double assert_start_time = 3.5;
+  double assert_end_time = 4.5;
+  double stop_speed_tolerance = 1e-2;  // [rad/s]
+
+  ros::Duration timeout(5);
+
+  geometry_msgs::PoseStamped target;
+  target.pose.position.z = 0.6;
+  target.pose.orientation.x = 1;
+  target.header.frame_id = "panda_link0";
+  size_t samples = 0;
+  std::map<std::string, double> velocities;
+  auto pub = nh->advertise<geometry_msgs::PoseStamped>(
+      "/cartesian_impedance_example_controller/equilibrium_pose", 1);
+  ros::Rate rate(30);
+
+  bool user_stop_pressed = false;
+  while (ros::ok()) {
+    rate.sleep();
+    double t = now();
+
+    target.pose.position.x = radius * std::sin(2 * M_PI * frequency * t) + 0.3;
+    target.pose.position.y = radius * std::cos(2 * M_PI * frequency * t);
+    pub.publish(target);
+
+    if (t < user_stop_time) {
+      continue;
+    }
+    // After some time, we press the user stop
+    if (not user_stop_pressed) {
+      setUserStop(true);
+      user_stop_pressed = true;
+    }
+    if (t < assert_start_time) {
+      continue;
+    }
+
+    auto state = ros::topic::waitForMessage<franka_msgs::FrankaState>(
+        "/franka_state_controller/franka_states", *nh, timeout);
+    ASSERT_TRUE(state != nullptr)
+        << "No message on /franka_state_controller/franka_states received within "
+        << timeout.toSec() << "s";
+    EXPECT_EQ(static_cast<RobotMode>(state->robot_mode), RobotMode::kUserStopped);
+
+    // A little while later we check if the joints are still moving
+    auto msg = ros::topic::waitForMessage<sensor_msgs::JointState>("/joint_states", *nh, timeout);
+    ASSERT_TRUE(msg != nullptr) << "No message on /joint_states received within " << timeout.toSec()
+                                << "s";
+    for (int i = 0; i < msg->name.size(); i++) {
+      auto name = msg->name.at(i);
+      if (contains(name, "finger_joint")) {
+        continue;
+      }
+      velocities.emplace(name, 0);  // insert if not yet exist
+      velocities.at(name) += msg->velocity.at(i);
+    }
+    samples++;
+
+    if (t < assert_end_time) {
+      continue;
+    }
+
+    for (auto pair : velocities) {
+      auto name = pair.first;
+      auto velocity = pair.second / samples;
+      EXPECT_NEAR(velocity, 0, stop_speed_tolerance) << "Joint " << name << " is still moving!";
+    }
+
+    break;  // finish test
+  }
+}
+
+TEST_F(FrankaHWSimFixture, pressing_user_stop_lets_finger_joints_still_move) {
+  // Test Procedure:
+  // Arange by closing the gripper after (close_gripper_time)
+  // After some time (user_stop_time) the user stop is pressed
+  // Then after some time (open_gripper_time) make a move action call to open the fingers
+  // When the action is finished, check if the finger positions are actually where we commanded them
+
+  double user_stop_time = 1;
+  double open_gripper_time = 1.5;
+  double position_tolerance = 5e-3;  // [m]
+
+  bool pressed_user_stop = false;
+  ros::Rate rate(30);
+  ros::Duration timeout(5);
+
+  while (ros::ok()) {
+    rate.sleep();
+
+    double t = now();
+
+    if (t < user_stop_time) {
+      continue;
+    }
+
+    if (not pressed_user_stop) {
+      pressed_user_stop = true;
+      setUserStop(true);
+    }
+
+    if (t < open_gripper_time) {
+      continue;
+    }
+    openGripper();
+
+    auto msg = ros::topic::waitForMessage<sensor_msgs::JointState>("/franka_gripper/joint_states",
+                                                                   *nh, timeout);
+    ASSERT_TRUE(msg != nullptr) << "No message on /franka_gripper/joint_states received within "
+                                << timeout.toSec() << "s";
+    for (int i = 0; i < msg->name.size(); i++) {
+      auto name = msg->name.at(i);
+      if (not contains(name, "finger_joint")) {
+        continue;
+      }
+      EXPECT_NEAR(msg->position.at(i), franka_gazebo::kMaxFingerWidth / 2., position_tolerance);
+    }
+
+    break;  // finish test
+  }
+}
+
 int main(int argc, char** argv) {
   testing::InitGoogleTest(&argc, argv);
   ros::init(argc, argv, "franka_hw_sim_test");
+  nh = std::make_unique<ros::NodeHandle>();
   return RUN_ALL_TESTS();
 }
diff --git a/franka_gazebo/test/launch/franka_hw_sim_gazebo.test b/franka_gazebo/test/launch/franka_hw_sim_gazebo.test
index 7edc56c4f..b9b861028 100644
--- a/franka_gazebo/test/launch/franka_hw_sim_gazebo.test
+++ b/franka_gazebo/test/launch/franka_hw_sim_gazebo.test
@@ -3,6 +3,7 @@
   <arg name="debug" default="false" doc="Bringup Gazebo GUI during the test?" />
   <include file="$(find franka_gazebo)/launch/panda.launch">
     <arg name="controller" value="cartesian_impedance_example_controller"/>
+    <arg name="interactive_marker" value="false" />
     <arg name="arm_id" value="panda"/>
     <arg name="x" value="-0.5"/>
     <arg name="world" value="$(find franka_gazebo)/world/stone.sdf"/>