diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index 081f36caee0..875c1b71c44 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -66,7 +66,7 @@ void FollowPathAction::on_wait_for_result(
   getInput("path", new_path);
 
   // Check if it is not same with the current one
-  if (goal_.path != new_path) {
+  if (goal_.path != new_path && new_path != nav_msgs::msg::Path()) {
     // the action server on the next loop iteration
     goal_.path = new_path;
     goal_updated_ = true;