https://github.com/ros-planning/navigation2/blob/4e52bad8d7b8add98291472c114ea0ec054bcd1b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp#L482-L492

Seems like shorten_transformed_plan is always true.