diff --git a/planner_cspace/src/planner_3d.cpp b/planner_cspace/src/planner_3d.cpp
index 1c088987..5270d134 100644
--- a/planner_cspace/src/planner_3d.cpp
+++ b/planner_cspace/src/planner_3d.cpp
@@ -1470,6 +1470,7 @@ class Planner3dNode
       waitUntil(next_replan_time, previous_path);
 
       const ros::Time now = ros::Time::now();
+      next_replan_time = now;
 
       if (has_map_ && !goal_updated_ && has_goal_)
       {