Update formatting and config file comment

ur_moveit_config/config/moveit_controllers.yaml

@@ -5,7 +5,7 @@ trajectory_execution:
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5
   allowed_start_tolerance: 0.01
-  execution_duration_monitoring: false # Not much use when using the scaled JTC
+  execution_duration_monitoring: false # May lead to unexpectedly aborted goals with scaled JTC
 
 moveit_simple_controller_manager:
   controller_names:

ur_moveit_config/doc/index.rst

@@ -25,9 +25,16 @@ Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute tra
 robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
 
 .. note::
-The MoveIt configuration provided here has Trajectory Execution Monitoring *disabled*, as the Scaled Joint Trajectory Controller may cause trajectories to be executed at a lower velocity than they were originally planned by MoveIt. MoveIt's TEM however is not aware of this deliberate slow-down due to scaling and will in most cases unnecessarily (and unexpectedly) abort goals.
-
-Until this incompatibility is resolved, the default value for `execution_duration_monitoring` is set to `false`. Users who wish to temporarily (re)enable TEM at runtime (for use with other, non-scaling controllers) can do so using the ROS 2 parameter services supported by MoveIt.
+   The MoveIt configuration provided here has Trajectory Execution Monitoring (TEM) *disabled*, as the
+   Scaled Joint Trajectory Controller may cause trajectories to be executed at a lower velocity
+   than they were originally planned by MoveIt. MoveIt's TEM however is not aware of this
+   deliberate slow-down due to scaling and will in most cases unnecessarily (and unexpectedly)
+   abort goals.
+
+   Until this incompatibility is resolved, the default value for ``execution_duration_monitoring``
+   is set to ``false``. Users who wish to temporarily (re)enable TEM at runtime (for use with
+   other, non-scaling controllers) can do so using the ROS 2 parameter services supported by
+   MoveIt.
 
    .. literalinclude:: ../config/moveit_controllers.yaml
       :language: yaml

ur_robot_driver/doc/usage/move.rst

@@ -68,10 +68,15 @@ Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute tra
 robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
 
 .. note::
-   Usually, MoveIt uses trajectory execution monitoring (TEM). If executing a trajectory takes too long,
-   e.g. because the action server died or the robot is blocked, this will lead to an error in
-   trajectory execution. However, this isn't necessarily compatible with the scaled joint
-   trajectory controller (as long as TEM is not aware of the scaling), as execution time can
-   be unbounded on purpose. Hence, TEM is disabled in the example MoveIt configuration.
+   The MoveIt configuration provided here has Trajectory Execution Monitoring (TEM) *disabled*, as the
+   Scaled Joint Trajectory Controller may cause trajectories to be executed at a lower velocity
+   than they were originally planned by MoveIt. MoveIt's TEM however is not aware of this
+   deliberate slow-down due to scaling and will in most cases unnecessarily (and unexpectedly)
+   abort goals.
+
+   Until this incompatibility is resolved, the default value for ``execution_duration_monitoring``
+   is set to ``false``. Users who wish to temporarily (re)enable TEM at runtime (for use with
+   other, non-scaling controllers) can do so using the ROS 2 parameter services supported by
+   MoveIt.
 
 For more details, please see :ref:`ur_moveit_config`.