everything seems to work together as expected

(if not perfectly)

script/walker.py

@@ -57,12 +57,6 @@ if __name__ == '__main__':
         # print trans
         # continue
 
-        permission = _inform_controller('move')
-
-        if not permission:
-            mp.stopMove()
-            continue
-
         movement = [0, 0, 0]
                                #-1   1  -1   1
         for i, dr in enumerate((BK, FW, RT, LT)):
@@ -74,12 +68,19 @@ if __name__ == '__main__':
                 break
 
         if not any(movement):
-            rospy.loginfo('WALKER: STOP')
+            rospy.logdebug('WALKER: STOP')
             _inform_controller('stop')
             mp.move(0, 0, 0)
-        else:
-            rospy.loginfo('WALKER: TRANS: {}'.format(trans))
-            rospy.loginfo('WALKER: MOVMT: {}'.format(movement))
-            mp.moveToward(*movement)
+            continue
+
+        permission = _inform_controller('move')
+
+        if not permission:
+            mp.stopMove()
+            continue
+
+        rospy.loginfo('WALKER: TRANS: {}'.format(trans))
+        rospy.loginfo('WALKER: MOVMT: {}'.format(movement))
+        mp.moveToward(*movement)
 
     mp.rest()