diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index af28b1b1eb0..de239b3587e 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -400,7 +400,10 @@ void PlannerServer::computePlanThroughPoses()
       if (i == 0) {
         curr_start = start;
       } else {
-        curr_start = goal->goals[i - 1];
+        // pick the end of the last planning task as the start for the next one
+        // to allow for path tolerance deviations
+        curr_start = concat_path.poses.back();
+        curr_start.header = concat_path.header;
       }
       curr_goal = goal->goals[i];
 
@@ -644,8 +647,8 @@ void PlannerServer::isPathValid(
 
     /**
      * The lethal check starts at the closest point to avoid points that have already been passed
-     * and may have become occupied. The method for collision detection is based on the shape of 
-     * the footprint. 
+     * and may have become occupied. The method for collision detection is based on the shape of
+     * the footprint.
      */
     std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
     unsigned int mx = 0;