diff --git a/include/wrp_sdk/platforms/common/mobile_base.hpp b/include/wrp_sdk/platforms/common/mobile_base.hpp
index 01f48bb..6e12a6a 100644
--- a/include/wrp_sdk/platforms/common/mobile_base.hpp
+++ b/include/wrp_sdk/platforms/common/mobile_base.hpp
@@ -31,6 +31,8 @@ class MobileBase {
   MobileBase(const MobileBase &hunter) = delete;
   MobileBase &operator=(const MobileBase &hunter) = delete;
 
+  void SetCmdTimeout(bool enable, uint32_t timeout_ms = 100);
+
   // connect to roboot from CAN or serial
   void Connect(std::string dev_name, int32_t baud_rate = 0);
 
@@ -50,6 +52,12 @@ class MobileBase {
   std::shared_ptr<AsyncCAN> can_if_;
   std::shared_ptr<AsyncSerial> serial_if_;
 
+  // timeout to be implemented in each vehicle
+  bool enable_timeout_ = true;
+  uint32_t timeout_ms_ = 100;
+  uint32_t watchdog_counter_ = 0;
+  virtual void CheckCmdTimeout();
+
   // command thread
   std::thread cmd_thread_;
   int32_t cmd_thread_period_ms_ = 10;
diff --git a/src/platforms/mobile_base.cpp b/src/platforms/mobile_base.cpp
index 639b970..4088020 100644
--- a/src/platforms/mobile_base.cpp
+++ b/src/platforms/mobile_base.cpp
@@ -67,7 +67,6 @@ void MobileBase::StartCmdThread() {
 void MobileBase::ControlLoop(int32_t period_ms) {
   StopWatch ctrl_sw;
   bool print_loop_freq = false;
-  static uint32_t iter_cnt = 0;
   while (true) {
     ctrl_sw.tic();
     SendRobotCmd();