From 292e4edf9d0b421804eb46658ea25f7feaef2e2d Mon Sep 17 00:00:00 2001
From: Sarthak Mittal <sarthakmittal2608@gmail.com>
Date: Sat, 1 Aug 2020 14:23:08 +0530
Subject: [PATCH] Fix nav2_bt_navigator cleanup

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
---
 nav2_bt_navigator/src/bt_navigator.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 69bee0ff5f5..5397a94bf78 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -214,6 +214,7 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   action_server_.reset();
   plugin_lib_names_.clear();
+  current_bt_xml_filename_.clear();
   blackboard_.reset();
   bt_->haltAllActions(tree_.rootNode());
   bt_.reset();