diff --git a/dwb_local_planner/README.md b/dwb_local_planner/README.md
index 870ac46..4e9ff24 100644
--- a/dwb_local_planner/README.md
+++ b/dwb_local_planner/README.md
@@ -72,7 +72,7 @@ virtual bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geomet
 
  * `void initialize(const ros::NodeHandle& planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)` - called once on startup, and then calls `onInit`
  * `void onInit()` - May be overwritten to load parameters as needed.
- * `void reset()` - called at the beginning of every new navigation, i.e. when we get a new global goal via `setGoalPose`.
+ * `void reset()` - called at the beginning of every new navigation, i.e. when we get a new global plan.
  * `bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan)` - called once per iteration of the planner, prior to the evaluation of all the trajectories
  * `double scoreTrajectory(const dwb_msgs::Trajectory2D& traj)` - called once per trajectory
  * `void debrief(const nav_2d_msgs::Twist2D& cmd_vel)` - called after all the trajectories to notify what trajectory was chosen.
diff --git a/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h b/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h
index 55fb8ce..f74fb19 100644
--- a/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h
+++ b/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h
@@ -104,7 +104,7 @@ class TrajectoryCritic
   /**
    * @brief Reset the state of the critic
    *
-   * Reset is called when the planner receives a new global goal.
+   * Reset is called when the planner receives a new global plan.
    * This can be used to discard information specific to one plan.
    */
   virtual void reset() {}
diff --git a/dwb_local_planner/src/dwb_local_planner.cpp b/dwb_local_planner/src/dwb_local_planner.cpp
index a87e8b9..d338ceb 100644
--- a/dwb_local_planner/src/dwb_local_planner.cpp
+++ b/dwb_local_planner/src/dwb_local_planner.cpp
@@ -161,18 +161,18 @@ void DWBLocalPlanner::setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose)
 {
   ROS_INFO_NAMED("DWBLocalPlanner", "New Goal Received.");
   goal_pose_ = goal_pose;
-  traj_generator_->reset();
-  goal_checker_->reset();
-  for (TrajectoryCritic::Ptr critic : critics_)
-  {
-    critic->reset();
-  }
 }
 
 void DWBLocalPlanner::setPlan(const nav_2d_msgs::Path2D& path)
 {
   pub_.publishGlobalPlan(path);
   global_plan_ = path;
+  traj_generator_->reset();
+  goal_checker_->reset();
+  for (TrajectoryCritic::Ptr critic : critics_)
+  {
+    critic->reset();
+  }
 }
 
 nav_2d_msgs::Twist2DStamped DWBLocalPlanner::computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose,