diff -Naur nav2-planner-1.1.20_orig/src/planner_server.cpp nav2-planner-1.1.20/src/planner_server.cpp
--- nav2-planner-1.1.20_orig/src/planner_server.cpp	2024-01-01 00:00:00.000000000 +0800
+++ nav2-planner-1.1.20/src/planner_server.cpp	2024-01-01 00:00:00.000000000 +0800
@@ -130,7 +130,7 @@
   tf_.reset();
   tf_.reset();
 
-  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;