Update pick_and_place_with_moveit_task_constructor.rst (#954)

- Updated steps for building from source.
- Updated launch commands for demos

doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst

@@ -55,13 +55,19 @@ More detailed information on MTC can be found in the :doc:`MoveIt Task Construct
 -----------------
 If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>`.
 
-2.1 Download MoveIt Task Constructor
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Move into your colcon workspace and pull the MoveIt Task Constructor source: ::
+Move into your colcon workspace and pull the MoveIt Task Constructor source, where ``<branch>`` can be e.g. ``humble`` for ROS Humble, or ``ros2`` for the latest version compatible with MoveIt 2 ``main``: ::
 
     cd ~/ws_moveit/src
-    git clone [email protected]:moveit/moveit_task_constructor.git -b ros2
+    git clone -b <branch> https://github.com/moveit/moveit_task_constructor.git
+
+Install missing packages with rosdep: ::
+
+    rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+
+Build the workspace: ::
+
+    cd ~/ws_moveit
+    colcon build --mixin release
 
 3 Trying It Out
 ------------------
@@ -73,9 +79,9 @@ For all demos you should launch the basic environment: ::
 
 Subsequently, you can run the individual demos: ::
 
-  ros2 launch moveit_task_constructor_demo cartesian.launch.py
-  ros2 launch moveit_task_constructor_demo modular.launch.py
-  ros2 launch moveit_task_constructor_demo pickplace.launch.py
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=cartesian
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=modular
+  ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo
 
 On the right side you should see the **Motion Planning Tasks** panel outlining the hierarchical stage structure of the tasks.
 When you select a particular stage, the list of successful and failed solutions will be