--- a/src/planner_server.cpp
+++ b/src/planner_server.cpp
@@ -130,7 +130,7 @@ PlannerServer::on_cleanup()
     "Planner Server has %s planners available.", planner_ids_concat_.c_str());
 
-  double expected_planner_frequency;
+  double expected_planner_frequency = 0.0;
   get_parameter("expected_planner_frequency", expected_planner_frequency);
   if (expected_planner_frequency > 0) {
     max_planner_duration_ = 1 / expected_planner_frequency;