diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
index 9fa437b163..74ec5a0def 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -21,6 +21,10 @@ Move into your colcon workspace and pull the MoveIt Task Constructor source: ::
     cd ~/ws_moveit2/src
     git clone https://github.com/ros-planning/moveit_task_constructor.git -b ros2
 
+Note: If you are using ROS 2 Humble, you should instead clone the ``humble`` branch of the repository: ::
+
+    git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble
+
 Create a New Package
 ^^^^^^^^^^^^^^^^^^^^