Apply suggestions from code review

Co-authored-by: Vincenzo Di Pentima <[email protected]>

ur_controllers/doc/index.rst

@@ -138,7 +138,7 @@ Advertised services
 
 .. _passthrough_trajectory_controller:
 
-ur_controlers/PassthroughTrajectoryController
+ur_controllers/PassthroughTrajectoryController
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This controller uses a ``control_msgs/FollowJointTrajectory`` action but instead of interpolating
@@ -221,12 +221,12 @@ directly to their joints.
      <command_interface name="setpoint_positions_3"/>
      <command_interface name="setpoint_positions_4"/>
      <command_interface name="setpoint_positions_5"/>
-     <command_interface name="setpoint_velicities_0"/>
-     <command_interface name="setpoint_velicities_1"/>
-     <command_interface name="setpoint_velicities_2"/>
-     <command_interface name="setpoint_velicities_3"/>
-     <command_interface name="setpoint_velicities_4"/>
-     <command_interface name="setpoint_velicities_5"/>
+     <command_interface name="setpoint_velocities_0"/>
+     <command_interface name="setpoint_velocities_1"/>
+     <command_interface name="setpoint_velocities_2"/>
+     <command_interface name="setpoint_velocities_3"/>
+     <command_interface name="setpoint_velocities_4"/>
+     <command_interface name="setpoint_velocities_5"/>
      <command_interface name="setpoint_accelerations_0"/>
      <command_interface name="setpoint_accelerations_1"/>
      <command_interface name="setpoint_accelerations_2"/>
@@ -247,7 +247,7 @@ Implementation details / dataflow
 """""""""""""""""""""""""""""""""
 
 * A trajectory passed to the controller will be sent to the hardware component one by one.
-* The controller will send one setpooint and then wait for the hardware to acknowledge that it can
+* The controller will send one setpoint and then wait for the hardware to acknowledge that it can
   take a new setpoint.
 * This happens until all setpoints have been transferred to the hardware. Then, the controller goes
   into a waiting state where it monitors execution time and waits for the hardware to finish

ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp

@@ -72,7 +72,7 @@ namespace ur_controllers
 
 /*
  * 0.0: No trajectory to forward, the controller is idling and ready to receive a new trajectory.
- * 1.0: The controller has received and accepted a new trajecotry. When the state is 1.0, the controller will write a
+ * 1.0: The controller has received and accepted a new trajectory. When the state is 1.0, the controller will write a
  * point to the hardware interface.
  * 2.0: The hardware interface will read the point written from the controller. The state will switch between 1.0
  * and 2.0 until all points have been read by the hardware interface.