diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
index 376c5d3fc17..3fca0e8b558 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
@@ -200,7 +200,7 @@ class AStarAlgorithm
    * before applying the heading mode
    * @return Coordinate to the first goal
    */
-  Coordinates getOriginalGoalCoordinate();
+  Coordinates getInitialGoalCoordinate();
 
 protected:
   /**
diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
index 2047e3891bc..f3fbea578b9 100644
--- a/nav2_smac_planner/src/a_star.cpp
+++ b/nav2_smac_planner/src/a_star.cpp
@@ -387,7 +387,7 @@ bool AStarAlgorithm<NodeT>::createPath(
     // 2.1) Use an analytic expansion (if available) to generate a path
     expansion_result = _expander->tryAnalyticExpansion(
       current_node, getGoals(),
-      getOriginalGoalCoordinate(), neighborGetter, analytic_iterations, closest_distance);
+      getInitialGoalCoordinate(), neighborGetter, analytic_iterations, closest_distance);
     if (expansion_result != nullptr) {
       current_node = expansion_result;
     }
@@ -551,7 +551,7 @@ void AStarAlgorithm<NodeT>::clearStart()
 
 
 template<typename NodeT>
-typename AStarAlgorithm<NodeT>::Coordinates AStarAlgorithm<NodeT>::getOriginalGoalCoordinate()
+typename AStarAlgorithm<NodeT>::Coordinates AStarAlgorithm<NodeT>::getInitialGoalCoordinate()
 {
   return _goals_coordinates[0];
 }
diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp
index 1f8b7cd2370..4c772debcaa 100644
--- a/nav2_smac_planner/test/test_a_star.cpp
+++ b/nav2_smac_planner/test/test_a_star.cpp
@@ -405,7 +405,7 @@ TEST(AStarTest, test_goal_heading_goals)
   EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker, expansions.get()));
 
   EXPECT_TRUE(a_star.getGoals().size() == 2);
-  EXPECT_TRUE(a_star.getOriginalGoalCoordinate().theta == 40u);
+  EXPECT_TRUE(a_star.getInitialGoalCoordinate().theta == 40u);
 
 
   // ALL_DIRECTION goal heading mode
@@ -423,7 +423,7 @@ TEST(AStarTest, test_goal_heading_goals)
 
   EXPECT_TRUE(a_star.getGoals().size() == num_bins);
   // first goal should be the same the one set by the user
-  EXPECT_TRUE(a_star.getOriginalGoalCoordinate().theta == 40u);
+  EXPECT_TRUE(a_star.getInitialGoalCoordinate().theta == 40u);
 
 }