requirement for nav_msgs/Path

[zlg9folira]

I understand that the node subscribes to Path and resets idx_ (waypoint index) to 0 every time. I am trying to prepare a path publisher for this node. Should the first pose in the path be updated every time based on location of the robot so that the length of the path gets shorter as robot moves ? In this case, index 0 will always refer to a waypoint which is in front of robot and must be traversed.

I was wondering if Path can be published once (as a global path) and remains static regardless of robot position. My guess is that this Pure Pursuit node is not designed to handle that situation. Can you confirm pls?