diff --git a/doc/moveit_cpp/config/moveit_cpp.yaml b/doc/moveit_cpp/config/moveit_cpp.yaml
index d58884be5..9a69f0dd1 100644
--- a/doc/moveit_cpp/config/moveit_cpp.yaml
+++ b/doc/moveit_cpp/config/moveit_cpp.yaml
@@ -11,7 +11,8 @@ planning_pipelines:
   pipeline_names:
     - ompl
 
-default_planner_options:
+plan_request_params:
   planning_attempts: 1
+  planning_pipeline: ompl
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
diff --git a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp
index 355b104fb..da4fb84b1 100644
--- a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp
+++ b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp
@@ -31,6 +31,7 @@ int main(int argc, char** argv)
   ROS_INFO_STREAM_NAMED(LOGNAME, "Starting MoveIt Tutorials...");
 
   auto moveit_cpp_ptr = std::make_shared<moveit::planning_interface::MoveItCpp>(nh);
+  moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
 
   auto planning_components =
       std::make_shared<moveit::planning_interface::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);