diff --git a/moveit_ros/moveit_servo/src/servo_node.cpp b/moveit_ros/moveit_servo/src/servo_node.cpp
index bf6017c741..8cb1bc12ae 100644
--- a/moveit_ros/moveit_servo/src/servo_node.cpp
+++ b/moveit_ros/moveit_servo/src/servo_node.cpp
@@ -302,7 +302,10 @@ void ServoNode::servoLoop()
   {
     // Skip processing if servoing is disabled.
     if (servo_paused_)
+    {
+      servo_frequency.sleep();
       continue;
+    }
 
     next_joint_state = std::nullopt;
     const CommandType expected_type = servo_->getCommandType();