I followed the arm_navigation tutorial:

http://www.ros.org/wiki/move_arm/Tutorials/MoveArmJointGoal

It said that the configuration for group_name could be found in the following page:

http://www.ros.org/wiki/planning_environment/YAML%20configuration

Inside that page, it said that we could find the yaml file here:

pr2_arm_navigation/pr2_arm_navigation_config/config/planning_groups.yaml

However, I couldn't find this file in that package, neither could I find the file which had the same content but with different name. Only a similar one in pr2armnavigationconfig/config/pr2planning_description.yaml. If this file is deprecated, then how is the configuration done?

I run ROS Fuerte on Ubuntu 12.04

Thanks for any help~