diff --git a/mg_navigation/src/mg_move_server.cpp b/mg_navigation/src/mg_move_server.cpp
index 68d9947..badff74 100644
--- a/mg_navigation/src/mg_move_server.cpp
+++ b/mg_navigation/src/mg_move_server.cpp
@@ -196,6 +196,7 @@ private:
                 x->error = MoveAction::Result::MISALIGNED;
                 is_processing_goal_ = false;
                 goal_handle->abort(x);
+                return;
             }
 
             double best_score = -INFINITY;