Merge branch 'ros-planning:main' into main

mosfet80 · Feb 23, 2024 · d569dd5 · d569dd5
2 parents 9317160 + 21a45aa
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diff --git a/doc/concepts/hybrid_planning/hybrid_planning.rst b/doc/concepts/hybrid_planning/hybrid_planning.rst
@@ -70,11 +70,16 @@ The diagram below depicts the fundamental plugin types and ROS interfaces that m
 The architecture is structured in three ROS component nodes:
 
 * **Hybrid Planning Manager**
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   * Provides a ROS action for Hybrid Planning requests
   * Runs the planning logic and coordinates the planners
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 * **Global Planner**
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   * Solves the global planning problem and publishes the solution trajectory
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 * **Local Planner**
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   * Processes incoming global trajectory updates
   * Solves the local planning problem based on robot state, world and reference trajectory
   * Sends position/velocity commands to the robot driver

diff --git a/doc/concepts/kinematics.rst b/doc/concepts/kinematics.rst
@@ -6,8 +6,8 @@ The Kinematics Plugin
 ---------------------
 
 MoveIt uses a plugin infrastructure, especially targeted towards allowing users to write their own inverse kinematics algorithms.
-Forward kinematics and finding jacobians is integrated within the RobotState class itself.
-The default inverse kinematics plugin for MoveIt is configured using the `KDL <https://github.com/orocos/orocos_kinematics_dynamics>`_ numerical jacobian-based solver.
+Forward kinematics and finding Jacobians is integrated within the RobotState class itself.
+The default inverse kinematics plugin for MoveIt is configured using the `KDL <https://github.com/orocos/orocos_kinematics_dynamics>`_ numerical Jacobian-based solver.
 This plugin is automatically configured by the MoveIt Setup Assistant.
 
 ******************