diff --git a/Jenkinsfile b/Jenkinsfile
index 457a5079a7c52942851ff32904619922cb5e9263..c9410850aff308cd14cb5126558639864c54aa7a 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -14,7 +14,7 @@ node {
         step([$class: 'CopyArtifact',
               filter: 'libfranka-*-amd64.tar.gz',
               fingerprintArtifacts: true,
-              projectName: "SWDEV/libfranka/${BRANCH_NAME}",
+              projectName: "SWDEV/libfranka/${java.net.URLEncoder.encode(env.BRANCH_NAME, "UTF-8")}",
               selector: [$class: 'StatusBuildSelector', stable: false]])
       } catch (e) {
         // Fall back to master branch.
diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h
index a3ea005f91cc443ab4eeef0023d8911eadc85793..10d6e377d7270fd8c0e7307fc24ef5a2931252a9 100644
--- a/franka_hw/include/franka_hw/franka_hw.h
+++ b/franka_hw/include/franka_hw/franka_hw.h
@@ -172,11 +172,8 @@ class FrankaHW : public hardware_interface::RobotHW {
                     const franka::RobotState& robot_state,
                     franka::Duration time_step) {
     robot_state_ = robot_state;
-    if (!controller_active_) {
-      return franka::Stop;
-    }
-    if (ros_callback && !ros_callback(robot_state, time_step)) {
-      return franka::Stop;
+    if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active_) {
+      return franka::MotionFinished(command);
     }
     return command;
   }