Fix typos

Doxyfile

@@ -1451,8 +1451,8 @@ EXT_LINKS_IN_WINDOW    = NO
 
 FORMULA_FONTSIZE       = 10
 
-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
-# generated for formulas are transparent PNGs. Transparent PNGs are not
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
+# generated for formulas are transparent ONGs. Transparent ONGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
 # Note that when changing this option you need to delete any form_*.png files in

doc/requirements/requirements.md

@@ -199,7 +199,7 @@ ME005 | Mission Execution.Command Sequencing | 1 | The Mission Execution module
 ME006 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log its activity. | In case of forensic analysis of a safety event, for example.
 ME007 | Mission Execution.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure (unable to execute the Navigation Command), the Mission Execution module SHOULD attempt to recover and continue execution of the mission.
 ME008 | Mission Execution.Feedback.Outputs.Progress Notification | 1 | The Mission Execution module SHALL provide progress notifications on the execution of the mission. | Intermediate steps of interest.
-ME009 | Mission Execution.Feedback.Outputs.Mission Completed | 1 | Upon successfull completion of the mission, the Mission Execution module SHALL output a corresponding notification.
+ME009 | Mission Execution.Feedback.Outputs.Mission Completed | 1 | Upon successful completion of the mission, the Mission Execution module SHALL output a corresponding notification.
 ME010 | Mission Execution.Feedback.Outputs.Mission Canceled | 1 | Upon receiving a cancellation command and cancelling the mission, the Mission Execution module SHALL output a corresponding notification.
 ME011 | Mission Execution.Feedback.Outputs.Mission Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST output a failure notification. | This would be received by the user-level interface and could necessitate user intervention, such as having a remote operating center where the remote operator "rescues" the robot.
 ME012 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc.
@@ -267,7 +267,7 @@ There are a few support modules and subsystems that are not part of the Navigati
 
 ### 2.4.1 Mapping
 
-The map data format should be capable of describing typical indoor and outdoor environments encoutered by the robots.
+The map data format should be capable of describing typical indoor and outdoor environments encountered by the robots.
 
 Id | Handle | Priority | Description | Notes
 -- | ------ | -------- | ----------- | -----

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -112,7 +112,7 @@ class AmclNode : public nav2_util::LifecycleNode
   typedef struct
   {
     double weight;             // Total weight (weights sum to 1)
-    pf_vector_t pf_pose_mean;  // Mean of pose esimate
+    pf_vector_t pf_pose_mean;  // Mean of pose estimate
     pf_matrix_t pf_pose_cov;   // Covariance of pose estimate
   } amcl_hyp_t;
 

nav2_amcl/include/nav2_amcl/pf/pf.hpp

@@ -145,7 +145,7 @@ pf_t * pf_alloc(
 // Free an existing filter
 void pf_free(pf_t * pf);
 
-// Initialize the filter using a guassian
+// Initialize the filter using a gaussian
 void pf_init(pf_t * pf, pf_vector_t mean, pf_matrix_t cov);
 
 // Initialize the filter using some model

nav2_amcl/include/nav2_amcl/sensors/laser/laser.hpp

@@ -52,7 +52,7 @@ class Laser
    * @brief Run a sensor update on laser
    * @param pf Particle filter to use
    * @param data Laser data to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   virtual bool sensorUpdate(pf_t * pf, LaserData * data) = 0;
 
@@ -123,7 +123,7 @@ class BeamModel : public Laser
    * @brief Run a sensor update on laser
    * @param pf Particle filter to use
    * @param data Laser data to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   bool sensorUpdate(pf_t * pf, LaserData * data);
 
@@ -153,7 +153,7 @@ class LikelihoodFieldModel : public Laser
    * @brief Run a sensor update on laser
    * @param pf Particle filter to use
    * @param data Laser data to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   bool sensorUpdate(pf_t * pf, LaserData * data);
 
@@ -162,7 +162,7 @@ class LikelihoodFieldModel : public Laser
    * @brief Perform the update function
    * @param data Laser data to use
    * @param pf Particle filter to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   static double sensorFunction(LaserData * data, pf_sample_set_t * set);
 };
@@ -187,7 +187,7 @@ class LikelihoodFieldModelProb : public Laser
    * @brief Run a sensor update on laser
    * @param pf Particle filter to use
    * @param data Laser data to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   bool sensorUpdate(pf_t * pf, LaserData * data);
 
@@ -196,7 +196,7 @@ class LikelihoodFieldModelProb : public Laser
    * @brief Perform the update function
    * @param data Laser data to use
    * @param pf Particle filter to use
-   * @return if it was succesful
+   * @return if it was successful
    */
   static double sensorFunction(LaserData * data, pf_sample_set_t * set);
   bool do_beamskip_;

nav2_amcl/src/amcl_node.cpp

@@ -1584,7 +1584,7 @@ AmclNode::initServices()
 void
 AmclNode::initOdometry()
 {
-  // TODO(mjeronimo): We should handle persistance of the last known pose of the robot. We could
+  // TODO(mjeronimo): We should handle persistence of the last known pose of the robot. We could
   // then read that pose here and initialize using that.
 
   // When pausing and resuming, remember the last robot pose so we don't start at 0:0 again

nav2_amcl/src/pf/pf.c

@@ -67,7 +67,7 @@ pf_t * pf_alloc(
   // the max error between the true distribution and the estimated
   // distribution.  [z] is the upper standard normal quantile for (1 -
   // p), where p is the probability that the error on the estimated
-  // distrubition will be less than [err].
+  // distribution will be less than [err].
   pf->pop_err = 0.01;
   pf->pop_z = 3;
   pf->dist_threshold = 0.5;
@@ -123,7 +123,7 @@ void pf_free(pf_t * pf)
   free(pf);
 }
 
-// Initialize the filter using a guassian
+// Initialize the filter using a gaussian
 void pf_init(pf_t * pf, pf_vector_t mean, pf_matrix_t cov)
 {
   int i;

nav2_amcl/src/pf/pf_draw.c

@@ -70,7 +70,7 @@ void pf_draw_samples(pf_t * pf, rtk_fig_t * fig, int max_samples)
 }
 
 
-// Draw the hitogram (kd tree)
+// Draw the histogram (kd tree)
 void pf_draw_hist(pf_t * pf, rtk_fig_t * fig)
 {
   pf_sample_set_t * set;

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

@@ -218,7 +218,7 @@ class BtActionServer
   // The blackboard shared by all of the nodes in the tree
   BT::Blackboard::Ptr blackboard_;
 
-  // The XML file that cointains the Behavior Tree to create
+  // The XML file that contains the Behavior Tree to create
   std::string current_bt_xml_filename_;
   std::string default_bt_xml_filename_;
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp

@@ -238,7 +238,7 @@ T1 deconflictPortAndParamFrame(
 /**
  * @brief Try reading an import port first, and if that doesn't work
  * fallback to reading directly the blackboard.
- * The blackboard must be passed explitly because config() is private in BT.CPP 4.X
+ * The blackboard must be passed explicitly because config() is private in BT.CPP 4.X
  *
  * @param bt_node node
  * @param blackboard the blackboard ovtained with node->config().blackboard

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp

@@ -86,7 +86,7 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
   BT::NodeStatus on_cancelled() override;
 
 private:
-  bool initalized_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp

@@ -70,7 +70,7 @@ class IsPathValidCondition : public BT::ConditionNode
 private:
   rclcpp::Node::SharedPtr node_;
   rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr client_;
-  // The timeout value while waiting for a responce from the
+  // The timeout value while waiting for a response from the
   // is path valid service
   std::chrono::milliseconds server_timeout_;
 };

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp

@@ -101,7 +101,7 @@ class IsStuckCondition : public BT::ConditionNode
   // Calculated states
   double current_accel_;
 
-  // Robot specific paramters
+  // Robot specific parameters
   double brake_accel_limit_;
 };
 

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
   For instructions on using Groot and description of the following BehaviorTree nodes,
-  please refer to the groot_instructions.md and REAMDE.md respectively located in the
+  please refer to the groot_instructions.md and README.md respectively located in the
   nav2_behavior_tree package.
 -->
 <root BTCPP_format="4">
@@ -171,31 +171,31 @@
     <Action ID="PlannerSelector">
         <input_port name="topic_name">Name of the topic to receive planner selection commands</input_port>
         <input_port name="default_planner">Default planner of the planner selector</input_port>
-        <output_port name="selected_planner">Name of the selected planner received from the topic subcription</output_port>
+        <output_port name="selected_planner">Name of the selected planner received from the topic subscription</output_port>
     </Action>
 
     <Action ID="ControllerSelector">
         <input_port name="topic_name">Name of the topic to receive controller selection commands</input_port>
         <input_port name="default_controller">Default controller of the controller selector</input_port>
-        <output_port name="selected_controller">Name of the selected controller received from the topic subcription</output_port>
+        <output_port name="selected_controller">Name of the selected controller received from the topic subscription</output_port>
     </Action>
 
     <Action ID="SmootherSelector">
         <input_port name="topic_name">Name of the topic to receive smoother selection commands</input_port>
         <input_port name="default_smoother">Default smoother of the smoother selector</input_port>
-        <output_port name="selected_smoother">Name of the selected smoother received from the topic subcription</output_port>
+        <output_port name="selected_smoother">Name of the selected smoother received from the topic subscription</output_port>
     </Action>
 
     <Action ID="GoalCheckerSelector">
         <input_port name="topic_name">Name of the topic to receive goal checker selection commands</input_port>
         <input_port name="default_goal_checker">Default goal checker of the controller selector</input_port>
-        <output_port name="selected_goal_checker">Name of the selected goal checker received from the topic subcription</output_port>
+        <output_port name="selected_goal_checker">Name of the selected goal checker received from the topic subscription</output_port>
     </Action>
 
     <Action ID="ProgressCheckerSelector">
         <input_port name="topic_name">Name of the topic to receive progress checker selection commands</input_port>
         <input_port name="default_progress_checker">Default progress checker of the controller selector</input_port>
-        <output_port name="selected_progress_checker">Name of the selected progress checker received from the topic subcription</output_port>
+        <output_port name="selected_progress_checker">Name of the selected progress checker received from the topic subscription</output_port>
     </Action>
 
     <Action ID="Spin">

nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp

@@ -25,7 +25,7 @@ DriveOnHeadingAction::DriveOnHeadingAction(
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : BtActionNode<nav2_msgs::action::DriveOnHeading>(xml_tag_name, action_name, conf),
-  initalized_(false)
+  initialized_(false)
 {
 }
 
@@ -47,12 +47,12 @@ void DriveOnHeadingAction::initialize()
   goal_.speed = speed;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
   goal_.disable_collision_checks = disable_collision_checks;
-  initalized_ = true;
+  initialized_ = true;
 }
 
 void DriveOnHeadingAction::on_tick()
 {
-  if (!initalized_) {
+  if (!initialized_) {
     initialize();
   }
 }

nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp

@@ -25,10 +25,10 @@
 #include "utils/test_behavior_tree_fixture.hpp"
 
 
-class RemoveInCollisionGoalsSucessService : public TestService<nav2_msgs::srv::GetCosts>
+class RemoveInCollisionGoalsSuccessService : public TestService<nav2_msgs::srv::GetCosts>
 {
 public:
-  RemoveInCollisionGoalsSucessService()
+  RemoveInCollisionGoalsSuccessService()
   : TestService("/global_costmap/get_cost_global_costmap")
   {}
 
@@ -113,7 +113,7 @@ class RemoveInCollisionGoalsTestFixture : public ::testing::Test
   {
     tree_.reset();
   }
-  static std::shared_ptr<RemoveInCollisionGoalsSucessService> success_server_;
+  static std::shared_ptr<RemoveInCollisionGoalsSuccessService> success_server_;
   static std::shared_ptr<RemoveInCollisionGoalsFailureService> failure_server_;
 
 protected:
@@ -126,7 +126,7 @@ class RemoveInCollisionGoalsTestFixture : public ::testing::Test
 rclcpp::Node::SharedPtr RemoveInCollisionGoalsTestFixture::node_ = nullptr;
 
 BT::NodeConfiguration * RemoveInCollisionGoalsTestFixture::config_ = nullptr;
-std::shared_ptr<RemoveInCollisionGoalsSucessService>
+std::shared_ptr<RemoveInCollisionGoalsSuccessService>
 RemoveInCollisionGoalsTestFixture::success_server_ = nullptr;
 std::shared_ptr<RemoveInCollisionGoalsFailureService>
 RemoveInCollisionGoalsTestFixture::failure_server_ = nullptr;
@@ -237,7 +237,7 @@ int main(int argc, char ** argv)
 
   // initialize service and spin on new thread
   RemoveInCollisionGoalsTestFixture::success_server_ =
-    std::make_shared<RemoveInCollisionGoalsSucessService>();
+    std::make_shared<RemoveInCollisionGoalsSuccessService>();
   std::thread success_server_thread([]() {
       rclcpp::spin(RemoveInCollisionGoalsTestFixture::success_server_);
     });

nav2_behaviors/README.md

@@ -6,7 +6,7 @@ The package defines:
 - A `TimedBehavior` template which is used as a base class to implement specific timed behavior action server - but not required.
 - The  `Backup`, `DriveOnHeading`, `Spin` and `Wait` behaviors.
 
-The only required class a behavior must derive from is the `nav2_core/behavior.hpp` class, which implements the pluginlib interface the behavior server will use to dynamically load your behavior. The `nav2_behaviors/timed_behavior.hpp` derives from this class and implements a generic action server for a timed behavior behavior (e.g. calls an implmentation function on a regular time interval to compute a value) but **this is not required** if it is not helpful. A behavior does not even need to be an action if you do not wish, it may be a service or other interface. However, most motion and behavior primitives are probably long-running and make sense to be modeled as actions, so the provided `timed_behavior.hpp` helps in managing the complexity to simplify new behavior development, described more below.
+The only required class a behavior must derive from is the `nav2_core/behavior.hpp` class, which implements the pluginlib interface the behavior server will use to dynamically load your behavior. The `nav2_behaviors/timed_behavior.hpp` derives from this class and implements a generic action server for a timed behavior behavior (e.g. calls an implementation function on a regular time interval to compute a value) but **this is not required** if it is not helpful. A behavior does not even need to be an action if you do not wish, it may be a service or other interface. However, most motion and behavior primitives are probably long-running and make sense to be modeled as actions, so the provided `timed_behavior.hpp` helps in managing the complexity to simplify new behavior development, described more below.
 
 The value of the centralized behavior server is to **share resources** amongst several behaviors that would otherwise be independent nodes. Subscriptions to TF, costmaps, and more can be quite heavy and add non-trivial compute costs to a robot system. By combining these independent behaviors into a single server, they may share these resources while retaining complete independence in execution and interface.
 

nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp

@@ -198,7 +198,7 @@ class TimedBehavior : public nav2_core::Behavior
   std::string global_frame_;
   std::string robot_base_frame_;
   double transform_tolerance_;
-  rclcpp::Duration elasped_time_{0, 0};
+  rclcpp::Duration elapsed_time_{0, 0};
 
   // Clock
   rclcpp::Clock::SharedPtr clock_;
@@ -236,7 +236,7 @@ class TimedBehavior : public nav2_core::Behavior
     rclcpp::WallRate loop_rate(cycle_frequency_);
 
     while (rclcpp::ok()) {
-      elasped_time_ = clock_->now() - start_time;
+      elapsed_time_ = clock_->now() - start_time;
       // TODO(orduno) #868 Enable preempting a Behavior on-the-fly without stopping
       if (action_server_->is_preempt_requested()) {
         RCLCPP_ERROR(
@@ -253,7 +253,7 @@ class TimedBehavior : public nav2_core::Behavior
       if (action_server_->is_cancel_requested()) {
         RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
         stopRobot();
-        result->total_elapsed_time = elasped_time_;
+        result->total_elapsed_time = elapsed_time_;
         onActionCompletion(result);
         action_server_->terminate_all(result);
         return;

nav2_behaviors/plugins/assisted_teleop.cpp

@@ -82,7 +82,7 @@ void AssistedTeleop::onActionCompletion(std::shared_ptr<AssistedTeleopActionResu
 
 ResultStatus AssistedTeleop::onCycleUpdate()
 {
-  feedback_->current_teleop_duration = elasped_time_;
+  feedback_->current_teleop_duration = elapsed_time_;
   action_server_->publish_feedback(feedback_);
 
   rclcpp::Duration time_remaining = end_time_ - this->clock_->now();

nav2_bringup/README.md

@@ -35,7 +35,7 @@ ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={
 
 #### Unique
 
-There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
+There are two robots including name and initial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
 
 If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script.
 

nav2_bringup/launch/localization_launch.py

@@ -103,7 +103,7 @@ def generate_launch_description():
     declare_container_name_cmd = DeclareLaunchArgument(
         'container_name',
         default_value='nav2_container',
-        description='the name of conatiner that nodes will load in if use composition',
+        description='the name of container that nodes will load in if use composition',
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(

nav2_bringup/launch/navigation_launch.py

@@ -108,7 +108,7 @@ def generate_launch_description():
     declare_container_name_cmd = DeclareLaunchArgument(
         'container_name',
         default_value='nav2_container',
-        description='the name of conatiner that nodes will load in if use composition',
+        description='the name of container that nodes will load in if use composition',
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(

nav2_bringup/launch/tb3_simulation_launch.py

@@ -198,7 +198,7 @@ def generate_launch_description():
         }.items(),
     )
     # The SDF file for the world is a xacro file because we wanted to
-    # conditionally load the SceneBroadcaster plugin based on wheter we're
+    # conditionally load the SceneBroadcaster plugin based on whether we're
     # running in headless mode. But currently, the Gazebo command line doesn't
     # take SDF strings for worlds, so the output of xacro needs to be saved into
     # a temporary file and passed to Gazebo.

nav2_bringup/launch/tb4_simulation_launch.py

@@ -200,7 +200,7 @@ def generate_launch_description():
     )
 
     # The SDF file for the world is a xacro file because we wanted to
-    # conditionally load the SceneBroadcaster plugin based on wheter we're
+    # conditionally load the SceneBroadcaster plugin based on whether we're
     # running in headless mode. But currently, the Gazebo command line doesn't
     # take SDF strings for worlds, so the output of xacro needs to be saved into
     # a temporary file and passed to Gazebo.