Update CHANGELOG.md

CHANGELOG.md

@@ -12,8 +12,7 @@
 * Distance
 
   * Added methods to rank configurations based on specified metric: [#423](https://github.com/personalrobotics/aikido/pull/423)
-  * Added weights as optinal paramter to rankers: [#484] (https://github.com/personalrobotics/aikido/pull/484)
-
+  * Added weights as optional parameter to rankers: [#484](https://github.com/personalrobotics/aikido/pull/484)
 
 * State Space
 
@@ -62,6 +61,7 @@
   * Added a kinodynamic timer that generates a time-optimal smooth trajectory without completely stopping at each waypoint: [#443](https://github.com/personalrobotics/aikido/pull/443)
   * Fixed segmentation fault on 32-bit machines in vector-field planner: [#459](https://github.com/personalrobotics/aikido/pull/459)
   * Updated interface to OMPL planners to follow the style of the new refactored planning API: [#466](https://github.com/personalrobotics/aikido/pull/466)
+  * TSR planners use ConfigurationRanker: [#503](https://github.com/personalrobotics/aikido/pull/503)
 
 * Robot