diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py
index ce52be2..1ccbbec 100644
--- a/stretch_core/nodes/command_groups.py
+++ b/stretch_core/nodes/command_groups.py
@@ -461,11 +461,13 @@ class MobileBaseCommandGroup:
 
         if self.use_mobile_base_inc_rot:
             self.goal_rotate_mobile_base_mecha = point.positions[self.rotate_mobile_base_index]
-            self.rotate_mobile_base_goal = True
+            if not np.isclose(self.goal_rotate_mobile_base_mecha, 0.0, rtol=1e-5, atol=1e-8, equal_nan=False):
+                self.rotate_mobile_base_goal = True
 
         if self.use_mobile_base_inc_trans:
             self.goal_translate_mobile_base_mecha = point.positions[self.translate_mobile_base_index]
-            self.translate_mobile_base_goal = True
+            if not np.isclose(self.goal_translate_mobile_base_mecha, 0.0, rtol=1e-5, atol=1e-8, equal_nan=False):
+                self.translate_mobile_base_goal = True
 
         if self.rotate_mobile_base_goal and self.translate_mobile_base_goal:
             err_str = 'Received a goal point with simultaneous rotation and translation mobile base goals. \
diff --git a/stretch_core/nodes/joint_trajectory_server.py b/stretch_core/nodes/joint_trajectory_server.py
index ab5292e..923ece6 100644
--- a/stretch_core/nodes/joint_trajectory_server.py
+++ b/stretch_core/nodes/joint_trajectory_server.py
@@ -160,7 +160,7 @@ class JointTrajectoryAction:
         rospy.logerr('{0} joint_traj action: {1}'.format(self.node.node_name, err_str))
         self.result.error_code = self.result.INVALID_GOAL
         self.result.error_string = err_str
-        self.result.set_aborted(self.result)
+        self.server.set_aborted(self.result)
 
     def goal_tolerance_violated_callback(self, err_str):
         rospy.logerr('{0} joint_traj action: {1}'.format(self.node.node_name, err_str))