Bug report

Required Info:

• Operating System:
  • Ubuntu
• ROS2 Version:
  • galactic
• Version or commit hash:
  • ros last bin and nav2 src sync
• DDS implementation:
  • Cyclone

Steps to reproduce issue

Ask the planner to compute a path with a goal which has the same position as the start (independently from the orientation).

Expected behavior

The planner should succeed and output a valid path, even if it contains only one pose.

Actual behavior

The planner always fail when the the start x and y are close to the goal x and y