From c2bd43ee1de5cbdfa47739ace6e90b09df91cf75 Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Wed, 6 Dec 2023 11:09:01 +0000
Subject: [PATCH] updated doc

---
 lbr_moveit_config/doc/lbr_moveit_config.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lbr_moveit_config/doc/lbr_moveit_config.rst b/lbr_moveit_config/doc/lbr_moveit_config.rst
index 207d2a86..245aab41 100644
--- a/lbr_moveit_config/doc/lbr_moveit_config.rst
+++ b/lbr_moveit_config/doc/lbr_moveit_config.rst
@@ -90,7 +90,7 @@ This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14
     
     #. In the `move_group.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/launch/move_group.launch.py>`_ use the robot descriotion from ``lbr_description``
     
-    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_ change the ``arm_controller`` to ``position_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ 
+    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_ change the ``arm_controller`` to ``joint_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ 
 
 Update MoveIt Configuration 
 ---------------------------