diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
index 6ea7709bfe..84152d21c3 100644
--- a/nav2_smac_planner/src/smac_planner_hybrid.cpp
+++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -170,13 +170,11 @@ void SmacPlannerHybrid::configure(
   nav2_util::declare_parameter_if_not_declared(
     node, name + ".goal_heading_mode", rclcpp::ParameterValue("DEFAULT"));
   node->get_parameter(name + ".goal_heading_mode", goal_heading_type);
-  GoalHeadingMode goal_heading_mode = fromStringToGH(goal_heading_type);
-  if (goal_heading_mode == GoalHeadingMode::UNKNOWN) {
+  _goal_heading_mode = fromStringToGH(goal_heading_type);
+  if (_goal_heading_mode == GoalHeadingMode::UNKNOWN) {
     std::string error_msg = "Unable to get GoalHeader type. Given '" + goal_heading_type + "' "
       "Valid options are DEFAULT, BIDIRECTIONAL, ALL_DIRECTION. ";
     throw nav2_core::PlannerException(error_msg);
-  } else {
-    _goal_heading_mode = goal_heading_mode;
   }
 
   _motion_model = fromString(_motion_model_for_search);
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index 0c36a0184c..ddc5a5c90b 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -145,14 +145,11 @@ void SmacPlannerLattice::configure(
   nav2_util::declare_parameter_if_not_declared(
     node, name + ".goal_heading_mode", rclcpp::ParameterValue("DEFAULT"));
   node->get_parameter(name + ".goal_heading_mode", goal_heading_type);
-  GoalHeadingMode goal_heading_mode = fromStringToGH(goal_heading_type);
-  goal_heading_mode = fromStringToGH(goal_heading_type);
-  if (goal_heading_mode == GoalHeadingMode::UNKNOWN) {
+  _goal_heading_mode = fromStringToGH(goal_heading_type);
+  if (_goal_heading_mode == GoalHeadingMode::UNKNOWN) {
     std::string error_msg = "Unable to get GoalHeader type. Given '" + goal_heading_type + "' "
       "Valid options are DEFAULT, BIDIRECTIONAL, ALL_DIRECTION. ";
     throw nav2_core::PlannerException(error_msg);
-  } else {
-    _goal_heading_mode = goal_heading_mode;
   }
 
   _metadata = LatticeMotionTable::getLatticeMetadata(_search_info.lattice_filepath);