diff --git a/spot_examples/docs/simple_sub.md b/spot_examples/docs/simple_sub.md
index c14fb35e..03d9e26f 100644
--- a/spot_examples/docs/simple_sub.md
+++ b/spot_examples/docs/simple_sub.md
@@ -63,4 +63,3 @@ ros2 run spot_examples simple_sub --robot spot1
 
 ## Author
 - Kabir Kedia <kabirk@andrew.cmu.edu>
-
diff --git a/spot_examples/spot_examples/simple_sub.py b/spot_examples/spot_examples/simple_sub.py
index d974d37d..82cec65d 100644
--- a/spot_examples/spot_examples/simple_sub.py
+++ b/spot_examples/spot_examples/simple_sub.py
@@ -1,13 +1,14 @@
-import os
 import argparse
-import logging
-from typing import Any, Dict, Optional
 from contextlib import closing
+from typing import Optional
+
 import synchros2.process as ros_process
 from geometry_msgs.msg import Pose
 from synchros2.subscription import Subscription
+
 from .robot_commander import RobotCommander
 
+
 class SpotRobotInterface:
     def __init__(self, robot_name: Optional[str] = None):
         # self.robot_name = os.getenv("ROBOT_NAME")
@@ -15,41 +16,43 @@ def __init__(self, robot_name: Optional[str] = None):
         self.latest_message = None  # Buffer to store the latest message
         self.is_busy = False  # Flag to indicate if the robot is busy
         self.robot_commander._logger.info(f"Robot Name: {self.robot_commander._robot_name}")
-    
-    def initialize(self):
+
+    def initialize(self) -> bool:
         if not self.robot_commander.initialize_robot():
             self.robot_commander._logger.info("Failed to initialize robot")
             return False
         self.robot_commander._logger.info("Initialized robot")
         return True
 
-    def process_message(self, message):
+    def process_message(self, message: Pose) -> None:
         if self.is_busy:
             self.latest_message = message
             self.robot_commander._logger.info("Robot is busy, buffering the latest message")
         else:
             self.execute_command(message)
-            
-            if self.latest_message:
-                self.execute_command(self.latest_message)
-                self.latest_message = None
 
-    def execute_command(self, message):
+            # if self.latest_message:
+            # # self.execute_command(self.latest_message)
+            # self.latest_message = None
+
+    def execute_command(self, message: Pose) -> None:
         self.is_busy = True
         self.robot_commander.walk_forward_with_world_frame_goal(message)
         self.is_busy = False
-    
-    def listen_to_pose_commands(self):
+
+    def listen_to_pose_commands(self) -> None:
         topic_data = Subscription(Pose, "/pose_commands")
         with closing(topic_data.stream()) as stream:
             for message in stream:
                 self.process_message(message)
 
+
 def cli() -> argparse.ArgumentParser:
     parser = argparse.ArgumentParser()
     parser.add_argument("--robot", help="Name of the robot if the ROS driver is inside that namespace")
     return parser
 
+
 @ros_process.main(cli())
 def main(args: argparse.Namespace) -> None:
     robot_interface = SpotRobotInterface(args.robot)
@@ -58,5 +61,6 @@ def main(args: argparse.Namespace) -> None:
     if robot_interface.initialize():
         robot_interface.listen_to_pose_commands()
 
+
 if __name__ == "__main__":
     main()