mmmarinho · mmmarinho · Aug 14, 2026 · Aug 14, 2026 · Aug 14, 2026
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -19,7 +19,7 @@
 
 This tutorial is licensed under `Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International <https://creativecommons.org/licenses/by-nc-nd/4.0/>`_.
 
-The example code have their own License headers, usually `MIT Licensed <https://opensource.org/license/mit>`_.
+The example code has their own License headers, usually `MIT Licensed <https://opensource.org/license/mit>`_.
 
 .. attention:: AI training with this content must follow the `license restrictions <https://creativecommons.org/using-cc-licensed-works-for-ai-training-2/>`_.
    In particular, please refer to the excerpt below.
@@ -40,7 +40,7 @@ These tutorials have been the backbone of `EEEN62021 Software for Robotics <http
 
 This is a tutorial that supposes that the user will follow it linearly. Some readers can skip the :doc:`Preamble <preamble/ubuntu>` if they are somewhat already comfortable in Python and Ubuntu. Otherwise, all steps can be considered as dependent on the prior ones, starting from :doc:`ROS2 Setup <installation>`.
 
-It is expected that the user will be working directly on an Ubuntu machine. :program:`Docker` images are available but no compatibility with host systems other than Ubuntu have been attempted.
+It is expected that the user will be working directly on an Ubuntu machine. :program:`Docker` images are available but no compatibility with host systems other than Ubuntu has been attempted.
 
 ❤️ **Ways to show love**
 
@@ -67,7 +67,7 @@ If you enjoyed this tutorial, please
     Creating ``rclpy`` Nodes and figuring out what all that means.
 
 #. :doc:`ROS2 Python Library <create_python_library>`
-    Create Python librarys and importing/using it in another :program:`ament_python` package.
+    Create Python libraries and importing/using them in another :program:`ament_python` package.
 
 #. :doc:`ROS2 Interfaces <interfaces>`
     ROS2 interfaces, i.e., messages ``.msg``, services ``.srv``, and actions ``.action``. Creating custom interface packages with :program:`ament_cmake`.

diff --git a/docs/source/inspecting_services.rst b/docs/source/inspecting_services.rst
@@ -216,7 +216,7 @@ It might be a bit of a handful, but we will need three (properly sourced) termin
 
             ros2 run python_package_that_uses_the_services add_points_service_client_introspection_node
 
-Each program will have it's own output, shown below. For the purposes of this section we can focus on the output of
+Each program will have its own output, shown below. For the purposes of this section we can focus on the output of
 :program:`ros2 service echo`. The other two outputs repeat what we have seen in the previous session, further guaranteeing
 that the introspection works without affecting the overall behavior of the nodes too much.
 

diff --git a/docs/source/inspecting_topics.rst b/docs/source/inspecting_topics.rst
@@ -283,7 +283,7 @@ which will result in our subscriber outputting
 
                    'So you’re telling me there’s a chance'
 
-            And was though by the following genius
+            And was thought by the following genius
 
                 -- Lloyd
 
@@ -295,7 +295,7 @@ which will result in our subscriber outputting
 
                    'So you’re telling me there’s a chance'
 
-            And was though by the following genius
+            And was thought by the following genius
 
                 -- Lloyd
 

diff --git a/docs/source/installation.rst b/docs/source/installation.rst
@@ -48,7 +48,7 @@ The following commands will do all that magic.
 
    sudo add-apt-repository universe
    export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
-   curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
+   curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivatives use $UBUNTU_CODENAME
    sudo dpkg -i /tmp/ros2-apt-source.deb
    sudo apt update && sudo apt upgrade -y
 

diff --git a/docs/source/parameters_and_launch.rst b/docs/source/parameters_and_launch.rst
@@ -11,7 +11,7 @@ For Python users, that might sound less appealing than for users of compiled lan
 Create the package
 ------------------
 
-First, let us create an :program:`ament_python` package that depends on our :file:`packages_with_interfaces` and build from there.
+First, let us create an :program:`ament_python` package that depends on our :file:`package_with_interfaces` and build from there.
 
 .. code:: console
 

diff --git a/docs/source/publishers_and_subscribers.rst b/docs/source/publishers_and_subscribers.rst
@@ -56,7 +56,7 @@ This will be the structure of the package. The main elements are highlighted.
 Create the package
 ------------------
 
-First, let us create an :program:`ament_python` package that depends on our newly developed :file:`packages_with_interfaces` and build from there.
+First, let us create an :program:`ament_python` package that depends on our newly developed :file:`package_with_interfaces` and build from there.
 
 .. code:: console
 

diff --git a/docs/source/source_after_build.rst b/docs/source/source_after_build.rst
@@ -120,7 +120,7 @@ To fix this, you must
 
 #. Deactivate the :program:`venv`.
 #. Remove the :file:`build`, :file:`install`, and :file:`log` folders.
-#. Rebuild and resource in a clean terminal, without a :program:`venv`.
+#. Rebuild and re-source in a clean terminal, without a :program:`venv`.
 
 In this tutorial, this would be equivalent to doing
 

diff --git a/docs/source/transformations/index.rst b/docs/source/transformations/index.rst
@@ -323,7 +323,7 @@ Lastly, we have, for a ``rotation``,
 Create the package
 ------------------
 
-We will create a package to showcase the transformations from the previous section. We use ``TransformedStamped`` as
+We will create a package to showcase the transformations from the previous section. We use ``TransformStamped`` as
 it will be useful right away, when we talk about ``tf2``.
 
 To see how this would work, programmatically, we start by creating the :file:`python_package_that_uses_geometry_msgs` package.

diff --git a/docs/source/transformations/tf2.rst b/docs/source/transformations/tf2.rst
@@ -224,7 +224,7 @@ We can show the integrated example as follows.
 Our broadcaster won't output anything to the screen.
 
 The output of the listener will be as long as you allow it to be. The first line indicates a normal behavior, in which
-subscribers to not have instant access to topics. That is properly handled by our listener. When available, you can see
+subscribers do not have instant access to topics. That is properly handled by our listener. When available, you can see
 the output.
 
 .. code-block:: console