The path returned by smac planner doesn't explicitly include the start.

bool NodeHybrid::backtracePath(CoordinateVector & path will not add the start node (who's parrent I would assume is a nullptr). Whats the reasoning not to include the start. Is this on purpose or should there be a do while loop.

https://github.com/ros-planning/navigation2/blob/97068787fb35894a098f9c4600b5a06c7dddf43b/nav2_smac_planner/src/node_hybrid.cpp#L700