From 8f53e69fd4772404347881a5b045bd8ac20358e4 Mon Sep 17 00:00:00 2001
From: Guillaume Doisy <guillaume.doisy@wyca.fr>
Date: Mon, 9 Aug 2021 10:32:04 +0200
Subject: [PATCH] Accept path of length 1

---
 nav2_smac_planner/src/a_star.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
index cd09cc79432..4a483c0c6b6 100644
--- a/nav2_smac_planner/src/a_star.cpp
+++ b/nav2_smac_planner/src/a_star.cpp
@@ -329,7 +329,7 @@ bool AStarAlgorithm<Node2D>::backtracePath(NodePtr node, CoordinateVector & path
     current_node = current_node->parent;
   }
 
-  return path.size() > 1;
+  return path.size() > 0;
 }
 
 template<typename NodeT>
@@ -346,7 +346,7 @@ bool AStarAlgorithm<NodeT>::backtracePath(NodePtr node, CoordinateVector & path)
     current_node = current_node->parent;
   }
 
-  return path.size() > 1;
+  return path.size() > 0;
 }
 
 template<typename NodeT>