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Correct naming and order of planning response adapters #1082

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6 changes: 3 additions & 3 deletions doc/examples/time_parameterization/time_parameterization_tutorial.rst
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Expand Up @@ -30,11 +30,11 @@ A time parameterization algorithm such as TOTG calculates velocities and acceler

To apply the Ruckig smoothing algorithm, jerk limits should be defined in a ``joint_limits.yaml`` file. If you do not specify a jerk limit for any joint, a reasonable default will be applied and a warning printed.

Finally, add the Ruckig smoothing algorithm to the list of planning request adapters (typically in ``ompl_planning.yaml``). The Ruckig smoothing algorithm should run last, so put it at the top of list:
Finally, add the Ruckig smoothing algorithm to the list of planning response adapters (typically in ``ompl_planning.yaml``). The Ruckig smoothing algorithm should run after AddTimeOptimalParameterization, so put it below AddTimeOptimalParameterization in the list:

.. code-block:: yaml

response_adapters:
- default_planning_request_adapters/AddRuckigTrajectorySmoothing
- default_planning_request_adapters/AddTimeOptimalParameterization
- default_planning_response_adapters/AddTimeOptimalParameterization
- default_planning_response_adapters/AddRuckigTrajectorySmoothing
...
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