refert to older version to check if this is the problem

src/C++/Driver/src/KobukiDriver/CKobuki.cpp

@@ -596,9 +596,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
         parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
       *pointerToMessage = "estop";
-      safetyActive = true;
       forward(-100); // reverse the robot
-      safetyActive = false;
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
   }

src/C++/Driver/src/main.cpp

@@ -51,10 +51,6 @@ std::string readMQTT()
 
 void parseMQTT(std::string message)
 {
-    if(robot.safetyActive){
-        std::cout << "Safety mode active. Ignoring command: " << message << std::endl;
-        return;
-    }
     if (message == "up")
     {
         robot.forward(1024);