!f dev

Co-authored-by: Fuoco <[email protected]>

dev/source/docs/ros2-interfaces.rst

@@ -163,7 +163,7 @@ ArduPilot exposes service servers for the following purposes:
 Odometry
 ========
 
-Ardupilot may not have a good estimate of where it relative to where it started moving.
+Ardupilot may not have a good estimate of where it is relative to where it started moving.
 A companion computer can interface with sensors that provide odometry, which is the computation of the dynamic transform
 from the ``odom`` frame to the ``base_link`` frame. This data is fed into ArduPilot's ``AP_VisualOdom`` library.
 This data may come from visual sensors, however other technologies such as radar and lidar can 
@@ -234,7 +234,7 @@ such as ``IMU`` may change, and are denoted with the ``experimental`` topic pref
 In extenuating circumstances, non-experimental topics may require bugfixes that
 change behavior, however message definitions will be kept compatible.
 
-Because the ROS way of updating messages it to not change messages
+Because the ROS way of updating messages is to not change messages
 within a ROS release, many tools do not cope well with messages.
 Different versions of the message between an autopilot and companion computer
 can lead to receiving junk data without any errors, or cryptic serialization