From f3e9500d94651e3686e8879b5c6c162e9f466ac7 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Tue, 17 Dec 2024 15:03:24 -0500
Subject: [PATCH] Update nav2_graceful_controller/src/graceful_controller.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Michael Ferguson <mfergs7@gmail.com>
---
 nav2_graceful_controller/src/graceful_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_graceful_controller/src/graceful_controller.cpp b/nav2_graceful_controller/src/graceful_controller.cpp
index f7cf7f39e6..70d678be32 100644
--- a/nav2_graceful_controller/src/graceful_controller.cpp
+++ b/nav2_graceful_controller/src/graceful_controller.cpp
@@ -430,7 +430,7 @@ void GracefulController::validateOrientations(
   if (path.empty()) {return;}
 
   // Check if we actually need to add orientations
-  for (size_t i = 0; i < path.size() - 1; ++i) {
+  for (size_t i = 1; i < path.size() - 1; ++i) {
     if (tf2::getYaw(path[i].pose.orientation) != 0.0) {return;}
   }