fix safety

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

@@ -787,7 +787,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
         if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
             parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
             std::cout << "Safety condition triggered!" << std::endl; // Debug print
-            *pointerToMessage = "stop";
+            *pointerToMessage = "estop";
             forward(-100); // reverse the robot
 
         }

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

@@ -63,6 +63,9 @@ void parseMQTT(std::string message){
         robot.sendNullMessage();
         robot.sendNullMessage();
     }
+    else if (message == "estop"){
+        robot.forward(-500);
+    }
     else{
         std::cout << "Invalid command" << std::endl;
     }