diff --git a/doc/examples/moveit_cpp/config/moveit_cpp.yaml b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
index 8d6915fc56..0dbd6f88ee 100644
--- a/doc/examples/moveit_cpp/config/moveit_cpp.yaml
+++ b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
@@ -9,11 +9,11 @@ planning_scene_monitor_options:
 
 planning_pipelines:
   #namespace: "moveit_cpp"  # optional, default is ~
-  pipeline_names: ["stomp"]
+  pipeline_names: ["ompl"]
 
 plan_request_params:
   planning_attempts: 1
-  planning_pipeline: stomp
-  planner_id: "stomp"
+  planning_pipeline: ompl
+  planner_id: "RRTConnectkConfigDefault"
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
diff --git a/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py b/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
index 63c2d1d737..4e1a9143c2 100644
--- a/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
+++ b/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
@@ -11,7 +11,7 @@ def generate_launch_description():
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
-        .planning_pipelines("stomp", ["stomp"])
+        .planning_pipelines("ompl", ["ompl"])
         .moveit_cpp(
             file_path=get_package_share_directory("moveit2_tutorials")
             + "/config/moveit_cpp.yaml"
diff --git a/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp b/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
index c690be291a..690f9d1472 100644
--- a/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
+++ b/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
@@ -261,12 +261,12 @@ class Demo
       // Set cost function
       if (pipeline_config.use_cost_function)
       {
-        planning_component_->setStateCostFunction(
-            [robot_start_state, group_name, planning_scene](const Eigen::VectorXd& state_vector) mutable {
-              auto clearance_cost_fn =
-                  moveit::cost_functions::createMinJointDisplacementCostFn(*robot_start_state, group_name, planning_scene);
-              return clearance_cost_fn(state_vector);
-            });
+        planning_component_->setStateCostFunction([robot_start_state, group_name,
+                                                   planning_scene](const Eigen::VectorXd& state_vector) mutable {
+          auto clearance_cost_fn =
+              moveit::cost_functions::createMinJointDisplacementCostFn(*robot_start_state, group_name, planning_scene);
+          return clearance_cost_fn(state_vector);
+        });
       }
       else
       {