diff --git a/nav2_mppi_controller/src/critics/constraint_critic.cpp b/nav2_mppi_controller/src/critics/constraint_critic.cpp
index 886c0e4b05..fc26f89d11 100644
--- a/nav2_mppi_controller/src/critics/constraint_critic.cpp
+++ b/nav2_mppi_controller/src/critics/constraint_critic.cpp
@@ -65,6 +65,7 @@ void ConstraintCritic::score(CriticData & data)
         std::move(out_of_min_bounds_motion) +
         std::move(out_of_turning_rad_motion)) *
         data.model_dt, {1}, immediate) * weight_, power_);
+    return;
   }
 
   data.costs += xt::pow(