How to run a command before a Bash script exits?

Question

If a Bash script has set -e, and a command in the script returns an error, how can I do some cleanup before the script exits?

For example:

Answer 1

sh version of devguydavid's answer.

#!/bin/sh
set -e
cleanup() {
  echo "Removing /tmp/foo"
  rm  -r /tmp/foo
}
trap cleanup EXIT
mkdir /tmp/foo
asdffdsa #Fails

ref: shellscript.sh