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Co-authored-by: Felix Exner (fexner) <[email protected]>

force_torque_sensor_broadcaster/doc/parameters_context.yaml

@@ -2,8 +2,8 @@ interface_names: |
   (optional) Defines custom, per axis interface names.
   This is used if different prefixes, i.e., sensor name, or non-standard interface names are used.
   It is sufficient that only one ``interface_name`` is defined.
-  This enables broadcaster use for force sensing cells with less then six measuring axes.
-  Example definition is:
+  This enables the broadcaster to use force sensing cells with less than six measuring axes.
+  An example definition is:
 
   .. code-block:: yaml
 

force_torque_sensor_broadcaster/doc/userdoc.rst

@@ -14,7 +14,7 @@ Parameters
 ^^^^^^^^^^^
 This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
-The interfaces can be defined in two ways, using ``sensor_name`` or ``interface_names`` parameter:
+The interfaces can be defined in two ways, using the ``sensor_name`` or the ``interface_names`` parameter:
 Those two parameters cannot be defined at the same time.
 
 Full list of parameters:

joint_trajectory_controller/doc/parameters_context.yaml

@@ -1,5 +1,5 @@
 constraints:
-    Default values for tolerances if no explicit values are states in JointTrajectory message.
+    Default values for tolerances if no explicit values are set in the ``JointTrajectory`` message.
 
 gains: |
   Only relevant, if ``open_loop_control`` is not set.