diff --git a/apps/ros2/src/raros/raros/navigation/navigation.py b/apps/ros2/src/raros/raros/navigation/navigation.py
index 6dba20d..4030ed0 100644
--- a/apps/ros2/src/raros/raros/navigation/navigation.py
+++ b/apps/ros2/src/raros/raros/navigation/navigation.py
@@ -35,6 +35,8 @@ def move_action_callback(self, goal_handle: ServerGoalHandle):
         request: Move.Goal = goal_handle.request
         self.get_logger().info(f'executing goal: "{request}"')
 
+        self.stop_publisher.publish(EmptyMsg())
+
         feedback_msg = Move.Feedback()
         feedback_msg.remaining_distance = request.distance
         goal_handle.publish_feedback(feedback_msg)
@@ -65,6 +67,8 @@ def rotate_action_callback(self, goal_handle: ServerGoalHandle):
         request: Rotate.Goal = goal_handle.request
         self.get_logger().info(f'executing goal: "{request}"')
 
+        self.stop_publisher.publish(EmptyMsg())
+
         feedback_msg = Rotate.Feedback()
         feedback_msg.remaining_angle = request.angle
         goal_handle.publish_feedback(feedback_msg)
@@ -96,6 +100,8 @@ def turn_action_callback(self, goal_handle: ServerGoalHandle):
         request: Turn.Goal = goal_handle.request
         self.get_logger().info(f'executing goal: "{request}"')
 
+        self.stop_publisher.publish(EmptyMsg())
+
         feedback_msg = Turn.Feedback()
         feedback_msg.remaining_angle = request.angle
         goal_handle.publish_feedback(feedback_msg)
diff --git a/apps/ros2/src/raros/raros/navigation/observe_action.py b/apps/ros2/src/raros/raros/navigation/observe_action.py
index a9ca4ab..23213a8 100644
--- a/apps/ros2/src/raros/raros/navigation/observe_action.py
+++ b/apps/ros2/src/raros/raros/navigation/observe_action.py
@@ -1,5 +1,7 @@
+import uuid
 from typing import Callable, Any
 
+from action_msgs.msg import GoalStatus
 from raros_interfaces.msg import StepperFeedback, StepperStatus
 from rclpy import qos
 from rclpy.action.server import ServerGoalHandle
@@ -8,7 +10,7 @@
 
 class ObserveAction(Node):
     def __init__(self, goal_handle: ServerGoalHandle, create_feedback_msg_callback: Callable[[StepperFeedback], Any]):
-        super().__init__('observe_action', use_global_arguments=False)
+        super().__init__(f'observe_action_{uuid.uuid4().hex}', use_global_arguments=False)
         self.goal_handle = goal_handle
         self.create_feedback_msg_callback = create_feedback_msg_callback
 
@@ -26,7 +28,7 @@ def __init__(self, goal_handle: ServerGoalHandle, create_feedback_msg_callback:
 
     def status_callback(self, msg: StepperStatus):
         self.get_logger().info(f'received: "{msg}"')
-        if msg.moving is False:
+        if msg.moving is False and self.goal_handle.status == GoalStatus.STATUS_EXECUTING:
             self.goal_handle.succeed()
 
     def feedback_callback(self, msg: StepperFeedback):