diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp
index bbbae87ae7c..d6317432bf0 100644
--- a/nav2_smac_planner/src/node_hybrid.cpp
+++ b/nav2_smac_planner/src/node_hybrid.cpp
@@ -390,6 +390,10 @@ bool NodeHybrid::isNodeValid(
 
 float NodeHybrid::getTraversalCost(const NodePtr & child)
 {
+  if (child == nullptr) {
+    return 0.0f;
+  }
+
   const float normalized_cost = child->getCost() / 252.0f;
   if (std::isnan(normalized_cost)) {
     throw std::runtime_error(
@@ -397,11 +401,6 @@ float NodeHybrid::getTraversalCost(const NodePtr & child)
             "cost without a known SE2 collision cost!");
   }
 
-  // this is the first node
-  if (getMotionPrimitiveIndex() == std::numeric_limits<unsigned int>::max()) {
-    return NodeHybrid::travel_distance_cost;
-  }
-
   const TurnDirection & child_turn_dir = child->getTurnDirection();
   float travel_cost_raw = motion_table.travel_costs[child->getMotionPrimitiveIndex()];
   float travel_cost = 0.0;