diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
index ca7a67d6421..1b7ac5c33f7 100644
--- a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
+++ b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -35,7 +35,7 @@ bool PathLongerOnApproach::isPathUpdated(
   nav_msgs::msg::Path & old_path)
 {
   return old_path.poses.size() != 0 &&
-         new_path.poses.size() != 0 && new_path.poses.size() > old_path.poses.size() &&
+         new_path.poses.size() != 0 &&
          old_path.poses.back().pose.position == new_path.poses.back().pose.position;
 }