diff --git a/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst b/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst
index 3336030d3..30fd2359a 100644
--- a/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst
+++ b/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst
@@ -70,7 +70,7 @@ are explained below.
 For a general introduction on how to fill a ``MotionPlanRequest`` see
 :ref:`move_group_interface-planning-to-pose-goal`.
 
-You can specify "PTP", "LIN" or "CIRC" as the ``planner\_id``of the ``MotionPlanRequest``.
+You can specify "PTP", "LIN" or "CIRC" as the ``planner_id``of the ``MotionPlanRequest``.
 
 The PTP motion command
 ----------------------