diff --git a/doc/how_to_guides/stomp_planner/stomp_planner.rst b/doc/how_to_guides/stomp_planner/stomp_planner.rst index f56211104b..c6cd51b4e2 100644 --- a/doc/how_to_guides/stomp_planner/stomp_planner.rst +++ b/doc/how_to_guides/stomp_planner/stomp_planner.rst @@ -23,11 +23,11 @@ You should also have gone through the steps in :doc:`Visualization with MoveIt R Prerequisites ------------- 1. A recent build of MoveIt ``main`` for your ROS 2 distribution. The STOMP library is provided as a separate ROS package for supported ROS 2 distributions and should be installed by ``rosdep``. - 2. To use STOMP with your robot it's best to start with a functional MoveIt configuration package for your robot. For testing, you can also start with the Panda robot from `moveit/panda_moveit_config `_ like described in this tutorial. + 2. To use STOMP with your robot it's best to start with a functional MoveIt configuration package for your robot. For testing, you can also start with the Panda robot from `panda_moveit_config `_ like described in this tutorial. Using STOMP with Your Robot --------------------------- -**Note:** if you are following this demo using the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository, these steps are already done for you and you can directly launch the demo for testing STOMP in RViZ. +**Note:** if you are following this demo using the ``panda_moveit_config`` from the `moveit/moveit_resources `_ repository, these steps are already done for you and you can directly launch the demo for testing STOMP in RViZ. #. Simply add the `stomp_planning.yaml `__ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: ::