Home service robots have received much attention from both academia and industry because home service robots have wide range of potential applications such as home security, cleaning, etc. The robots need to add or update services frequently according to the changing needs of human users. Furthermore, reactive nature of the robots add complexity to develop robot applications. These challenges raise safety issues seriously. Considering that safe operation of home service robots is crucial, current practice of validating robot applications is, however, not mature enough for wide deployment of home service robots. In this paper, we present our experience of developing and formally verifying discrete control software of Samsung Home Robot (SHR) using Esterel. We give a brief background on Esterel, then illuminate our result in formally verifying stopping behavior of SHR. Through the verification, we could detect and solve a feature interaction problem which caused the robot not to stop when a user commanded the robot to stop.