I got this code last summer and I replaced my bank 2 (passenger side? i forget) upstream (that is, between your engine and your cats) oxygen sensor. Are you getting a pulsing rev at and gassy smell at idle?
The car idles great and runs awesome at full throttle. The only time I can tell something is wrong is when I'm cruising at a constant speed it feels like the engine has a small amount of hesitation to it - almost like it has bad gas.
I'm not running cats so my car always has a slight fuel smell to the exhaust.
Just replace the first O2 sensor you see after the exhaust manifold (upstream) on the drivers side (bank 2). The other side might be good for many more years.