Update lerp_interface.cpp

doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp

@@ -72,7 +72,7 @@ bool LERPInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_
   std::vector<double> start_joint_values;
   start_state->copyJointGroupPositions(joint_model_group, start_joint_values);
 
-  // This planner only supports one goal constriant in the request
+  // This planner only supports one goal constraint in the request
   std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
   std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;