{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit_tutorials/pulls/comments/207693215","pull_request_review_id":143365341,"id":207693215,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwNzY5MzIxNQ==","diff_hunk":"@@ -84,14 +99,15 @@ We will have to generate a YAML configuration file for configuring the 3D sensor\n \n \n Update the launch file\n-----------------------\n+++++++++++++++++++++++\n \n Add the YAML file to the launch script\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n You will now need to update the *sensor_manager.launch* file in the \"launch\" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt! to use: ::\n \n- <rosparam command=\"load\" file=\"$(find panda_moveit_config)/config/sensors_kinect.yaml\" />\n+ <rosparam command=\"load\" file=\"$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml\" />\n \n+If you are using depthmap change the name of the yaml file to 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this tutorial can be simplified by relying on the perception 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