diff --git a/scripts/watch_dog.py b/scripts/watch_dog.py
new file mode 100644
index 0000000..56cdd06
--- /dev/null
+++ b/scripts/watch_dog.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+import rospy
+
+
+class WatchDog(object):
+    def __init__(self, time_out=0.1):
+        self.expire_duration = rospy.Duration.from_sec(time_out)
+        self.next_cmd_expected_time = rospy.Time.now()
+        self.initialized = False
+
+    def acknowledge_wd(self):
+        self.initialized = True
+        self.next_cmd_expected_time = rospy.Time.now() + self.expire_duration
+
+    def is_wd_expired(self):
+        if rospy.Time.now() > self.next_cmd_expected_time and self.initialized:
+            return True
+        else:
+            return False
+
+    def console_print(self, class_name):
+        if self.initialized:
+            print 'Watch Dog Expired, Resetting {} command'.format(class_name)
+            self.initialized = False
\ No newline at end of file