diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
index 992879a5b3b74..bd7c8a63bb1d3 100644
--- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
+++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
@@ -198,6 +198,7 @@ void MissionPlanner::on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr
     cancel_route();
     change_state(RouteState::SET);
     RCLCPP_ERROR(get_logger(), "The planned route is empty.");
+    return;
   }
 
   change_route(route);