diff --git a/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h b/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h
index 991e109e..2b3279c4 100644
--- a/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h
+++ b/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h
@@ -116,6 +116,7 @@ class TebLocalPlannerROS : public nav2_core::Controller
   void activate() override;
   void deactivate() override;
   void cleanup() override;
+  void reset() override;
 
   /**
     * @brief Initializes the teb plugin
diff --git a/teb_local_planner/src/teb_local_planner_ros.cpp b/teb_local_planner/src/teb_local_planner_ros.cpp
index 4d0b677a..31c18819 100644
--- a/teb_local_planner/src/teb_local_planner_ros.cpp
+++ b/teb_local_planner/src/teb_local_planner_ros.cpp
@@ -1139,6 +1139,11 @@ void TebLocalPlannerROS::cleanup() {
   return;
 }
 
+void TebLocalPlannerROS::reset() {
+  planner_->clearPlanner();
+  return;
+}
+
 } // end namespace teb_local_planner
 
 // register this planner as a nav2_core::Controller plugin