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                                            Matthew Booker

backward motion at begining of the path(maybe a bug) generated by nav2_smac_planner (hybrid a star)

There is a subtle issue that occurs if you remove that first node check. The start node always has a TurnDirection of UNKNOWN since that is what it is default...

Occasional crash in planner_server due to tf2_ros::CreateTimerROS::remove()

From the ```'ros2 doctor --report' output``` section it looks like your version of geometry2 is 0.25.2 geometry2 0.25.2 does not have this fix https://github.com/ros2/geometry2/pull/474 which seems to line up with...