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Update links to panda_moveit_config repository (ROS 1 → ROS 2) #1092

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Update links to panda_moveit_config repository (ROS 1 → ROS 2) #1092

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4 changes: 2 additions & 2 deletions doc/how_to_guides/stomp_planner/stomp_planner.rst
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Expand Up @@ -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 <https://github.com/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 <https://github.com/moveit/moveit_resources/tree/ros2/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 <https://github.com/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 <https://github.com/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 <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/config/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: ::

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