diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
index 5fdfd844ad5..b5550162349 100644
--- a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -516,6 +516,20 @@ double RegulatedPurePursuitController::findVelocitySignChange(
       return hypot(
         transformed_plan.poses[pose_id].pose.position.x,
         transformed_plan.poses[pose_id].pose.position.y);
+    } else if (
+      (hypot(oa_x, oa_y) == 0.0 &&
+        transformed_plan.poses[pose_id - 1].pose.orientation !=
+        transformed_plan.poses[pose_id].pose.orientation)
+      ||
+      (hypot(ab_x, ab_y) == 0.0 &&
+        transformed_plan.poses[pose_id].pose.orientation !=
+        transformed_plan.poses[pose_id + 1].pose.orientation))
+    {
+      // returning the distance since the points overlap
+      // but are not simply duplicate points (e.g. in place rotation)
+      return hypot(
+        transformed_plan.poses[pose_id].pose.position.x,
+        transformed_plan.poses[pose_id].pose.position.y);
     }
 
     if (