Address review comments

doc/concepts/moveit_task_constructor/debugging_mtc_task.rst

@@ -1,8 +1,8 @@
 .. _Debugging MTC Task:
 
-##################
-Debugging MTC task
-##################
+###################
+Debugging MTC tasks
+###################
 
 The Motion Planning Tasks panel in RViz lists all the stages in the MTC task being executed.
 Solutions for each stage can be examined by clicking on the stage name.

doc/concepts/moveit_task_constructor/generating_stages.rst

@@ -158,3 +158,4 @@ GenerateRandomPose
 FixedCartesianPose
 ------------------
 The ``FixedCartesianPose`` spawns a fixed Cartesian pose. This stage does no sampling.
+This stage is useful for planning from an intended future state, enabling things like simultaneous planning and execution.

doc/concepts/moveit_task_constructor/moveit_task_constructor.rst

@@ -37,7 +37,7 @@ Generator Stage
 | Monitoring Generator is a stage that monitors the solution of another stage (not adjacent) to use the solutions for planning.
 | Example of Monitoring Generator - ``GeneratePose``. It usually monitors a ``CurrentState`` or ``ModifyPlanningScene`` stage. By monitoring the solutions of ``CurrentState``, the ``GeneratePose`` stage can find the object or frame around which it should generate poses.
 
-| List of generator stages provided by MTC :ref:`Generating Stages`.
+| More information on generator stages provided by MTC can be found here - :ref:`Generating Stages`.
 
 Propagating Stage
 ^^^^^^^^^^^^^^^^^
@@ -47,7 +47,7 @@ Propagating Stage
 | Depending on the implementation, this stage can pass solutions forward, backward, or in both directions.
 | Example of propagating stage - ``Move Relative`` to a pose. This stage is commonly use to approach close to an object to pick.
 
-| List of propagating stages provided by MTC :ref:`Propagating Stages`.
+| More information on propagating stages provided by MTC can be found here - :ref:`Propagating Stages`.
 
 Connecting Stage
 ^^^^^^^^^^^^^^^^
@@ -56,14 +56,14 @@ Connecting Stage
 | Connectors do not propagate any results but attempt to connect the start and goal inputs provided by adjacent stages.
 | A connect stage often solves for a feasible trajectory between the start and goal states.
 
-| List of connecting stages provided by MTC :ref:`Connecting Stages`.
+| More information on connecting stages provided by MTC can be found here - :ref:`Connecting Stages`.
 
 Wrapper
 ^^^^^^^
 | Wrappers encapsulate another stage to modify or filter the results.
 | Example of wrapper - ``Compute IK`` for ``Generate Grasp Pose`` stage. A ``Generate Grasp Pose`` stage will produce cartesian pose solutions. By wrapping an ``Compute IK`` stage around ``Generate Pose`` stage, the cartesian pose solutions from ``Generate Pose`` stage can be used to produce IK solutions (i.e) produce joint state configuration of robot to reach the poses.
 
-| List of wrappers provided by MTC :ref:`Wrappers`.
+| More information on wrappers provided by MTC can be found here - :ref:`Wrappers`.
 
 MTC Containers
 ---------------
@@ -86,7 +86,7 @@ Parallel Container
 ^^^^^^^^^^^^^^^^^^
 Parallel containers combine a set of stages to allow planning alternate solutions.
 
-| More information on parallel containers :ref:`Parallel Containers`.
+| More information on parallel containers can be found here - :ref:`Parallel Containers`.
 
 Initializing a MTC Task
 -----------------------
@@ -170,7 +170,7 @@ CostTerm implementations available in MTC
 
 * ``TrajectoryDuration`` - Cost depends on execution duration of the whole trajectory
 
-* ``TrajectoryCostTerm`` - cost terms that only work on SubTrajectory solutions?
+* ``TrajectoryCostTerm`` - cost terms that only work on SubTrajectory solutions
 
 * ``LambdaCostTerm`` - Pass in a lambda expression to calculate cost
 
@@ -180,7 +180,7 @@ CostTerm implementations available in MTC
 
 * ``Clearance`` - Cost is inverse of distance to collision
 
-Example code on how to set CostTerm using LambdaCostTerm
+Example code on how to set CostTerm using ``LambdaCostTerm``
 
 .. code-block:: c++
 
@@ -192,7 +192,9 @@ All stages provided by MTC have default cost terms. Stages which produce traject
 Planning and Executing a MTC Task
 ---------------------------------
 
-Planning MTC task will return a MoveItErrorCode.
+Planning an MTC task will return a ``MoveItErrorCode``.
+Refer :moveit_msgs_codedir:`here<msg/MoveItErrorCodes.msg>` to identity the different error types.
+If planning succeeds, expect the plan function to return `moveit_msgs::msg::MoveItErrorCodes::SUCCESS`.
 
 .. code-block:: c++