diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index 5947f5e36e4..5b2bf306df0 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -253,7 +253,10 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathPt()
     }
   }
 
-  return current_path_.poses.back();
+  auto goal = current_path_.poses.back();
+  goal.header.frame_id = current_path_.header.frame_id;
+  goal.header.stamp = clock_->now();
+  return goal;
 }
 
 geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathGoal()