diff --git a/include/ignition/gazebo/Server.hh b/include/ignition/gazebo/Server.hh
index 088fda99d8..3a70bc02d8 100644
--- a/include/ignition/gazebo/Server.hh
+++ b/include/ignition/gazebo/Server.hh
@@ -285,6 +285,9 @@ namespace ignition
                                       bool _recursive = true,
                                       const unsigned int _worldIndex = 0);
 
+      /// \brief Stop the server. This will stop all running simulations.
+      public: void Stop();
+
       /// \brief Private data
       private: std::unique_ptr<ServerPrivate> dataPtr;
     };
diff --git a/src/Server.cc b/src/Server.cc
index 87381ee516..d6edfd0cba 100644
--- a/src/Server.cc
+++ b/src/Server.cc
@@ -377,3 +377,9 @@ bool Server::RequestRemoveEntity(const Entity _entity,
 
   return false;
 }
+
+//////////////////////////////////////////////////
+void Server::Stop()
+{
+  this->dataPtr->Stop();
+}
diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
index e0944c8095..f18e16c8a4 100644
--- a/src/Server_TEST.cc
+++ b/src/Server_TEST.cc
@@ -231,8 +231,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin))
   // Start server
   ServerConfig serverConfig;
   serverConfig.SetUpdateRate(10000);
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/shapes.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "shapes.sdf"));
 
   sdf::ElementPtr sdf(new sdf::Element);
   sdf->SetName("plugin");
@@ -338,8 +338,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig))
   EXPECT_FALSE(serverConfig.SdfString().empty());
 
   // Setting the SDF file should override the string.
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/shapes.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "shapes.sdf"));
   EXPECT_FALSE(serverConfig.SdfFile().empty());
   EXPECT_TRUE(serverConfig.SdfString().empty());
 
@@ -407,8 +407,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig))
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord))
 {
-  auto logPath = common::joinPaths(
-      std::string(PROJECT_BINARY_PATH), "test_log_path");
+  auto logPath = common::joinPaths(PROJECT_BINARY_PATH, "test_log_path");
   auto logFile = common::joinPaths(logPath, "state.tlog");
   auto compressedFile = logPath + ".zip";
 
@@ -447,8 +446,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord))
 TEST_P(ServerFixture,
        IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecordCompress))
 {
-  auto logPath = common::joinPaths(
-      std::string(PROJECT_BINARY_PATH), "test_log_path");
+  auto logPath = common::joinPaths(PROJECT_BINARY_PATH, "test_log_path");
   auto logFile = common::joinPaths(logPath, "state.tlog");
   auto compressedFile = logPath + ".zip";
 
@@ -480,8 +478,8 @@ TEST_P(ServerFixture, SdfStringServerConfig)
 {
   ignition::gazebo::ServerConfig serverConfig;
 
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/shapes.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "shapes.sdf"));
   EXPECT_FALSE(serverConfig.SdfFile().empty());
   EXPECT_TRUE(serverConfig.SdfString().empty());
 
@@ -796,8 +794,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning))
 {
   ignition::gazebo::ServerConfig serverConfig;
 
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/shapes.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "shapes.sdf"));
 
   gazebo::Server server(serverConfig);
   EXPECT_FALSE(server.Running());
@@ -844,8 +842,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad))
 {
   ignition::gazebo::ServerConfig serverConfig;
 
-  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/test/worlds/shapes.sdf");
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "shapes.sdf"));
 
   gazebo::Server server(serverConfig);
   EXPECT_FALSE(server.Running());
@@ -917,8 +915,9 @@ TEST_P(ServerFixture, Seed)
 TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
 {
   ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
-         (std::string(PROJECT_SOURCE_PATH) + "/test/worlds:" +
-          std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models").c_str());
+      (common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds:") +
+       common::joinPaths(PROJECT_SOURCE_PATH,
+           "test", "worlds", "models")).c_str());
 
   ServerConfig serverConfig;
   serverConfig.SetSdfFile("resource_paths.sdf");
@@ -1172,6 +1171,32 @@ TEST_P(ServerFixture, ResolveResourcePaths)
         "include_nested", "model.sdf"), true);
 }
 
+/////////////////////////////////////////////////
+TEST_P(ServerFixture, Stop)
+{
+  // Start server
+  ServerConfig serverConfig;
+  serverConfig.SetUpdateRate(10000);
+  serverConfig.SetSdfFile(common::joinPaths((PROJECT_SOURCE_PATH),
+      "test", "worlds", "shapes.sdf"));
+
+  gazebo::Server server(serverConfig);
+
+  // The simulation runner should not be running.
+  EXPECT_FALSE(*server.Running(0));
+  EXPECT_FALSE(server.Running());
+
+  // Run the server.
+  EXPECT_TRUE(server.Run(false, 0, false));
+  EXPECT_TRUE(*server.Running(0));
+  EXPECT_TRUE(server.Running());
+
+  // Stop the server
+  server.Stop();
+  EXPECT_FALSE(*server.Running(0));
+  EXPECT_FALSE(server.Running());
+}
+
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
 INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));