Fixing minor typos (#890)

.docker/README.md

@@ -4,6 +4,6 @@ For more information see the pages [Continuous Integration and Docker](http://mo
 
 To build the Docker image locally, run the following from the root folder of this repository.
 
-    docker build -f .docker/Dockerfile -t moveit2_tutorials --build-arg ROS_DISTRO=${ROS_DISTRO} .
+    docker build -f .docker/Dockerfile -t moveit2_tutorials --build-arg ROS_DISTRO=${ROS_DISTRO}.
 
 where `${ROS_DISTRO}` should be available if you have a ROS installation sourced locally, else you can pick a target release, e.g., `humble` or `rolling`.

README.md

@@ -11,7 +11,7 @@ This repository is built and deployed automatically by GitHub Actions:
 
 ## Contributing
 
-We strongly encourage you to help improve MoveIt's documentation. Please consider helping improve the tutorials, port old ones from ROS 1, and write new tutorials. We recommend you  read the quality standards below as well as the [How to Write a MoveIt Tutorial](https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_write_tutorials.html) page.
+We strongly encourage you to help improve MoveIt's documentation. Please consider helping improve the tutorials, port old ones from ROS 1, and write new tutorials. We recommend you read the quality standards below as well as the [How to Write a MoveIt Tutorial](https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_write_tutorials.html) page.
 
 If you find an issue with the tutorials you are not able to fix yourself, please [open an issue on GitHub](https://github.com/ros-planning/moveit2_tutorials/issues/new) or open a PR with proposed changes.
 
@@ -120,7 +120,7 @@ You can embed video with raw HTML, like in this example from the Pick and Place
         <iframe width="700px" height="400px" src="https://www.youtube.com/embed/QBJPxx_63Bs?rel=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
     </div>
 ```
-This includes [Youtube's suggested embed HTML](https://support.google.com/youtube/answer/171780?hl=en).
+This includes [YouTube's suggested embed HTML](https://support.google.com/youtube/answer/171780?hl=en).
 
 #### Local Video
 To embed a video that is included in this repository, you also will use raw HTML, like this example from the Quickstart in RViz tutorial.

doc/tutorials/your_first_project/your_first_project.rst

@@ -77,7 +77,7 @@ This first block of code is a bit of boilerplate but you should be used to seein
 
 We will build and run the program to see that everything is right before we move on.
 
-Change directory back to the workspace directory ``ws_moveit`` and run this command:
+Change the directory back to the workspace directory ``ws_moveit`` and run this command:
 
 .. code-block:: bash
 
@@ -200,7 +200,7 @@ This should cause the robot in RViz to move and end up in this pose:
 .. image:: rviz_2.png
    :width: 300px
 
-Note that if you ran the node ``hello_moveit`` without launching the demo launch file first, it will wait for 10 seconds and then print this error and exit.
+Note that if you run the node ``hello_moveit`` without launching the demo launch file first, it will wait for 10 seconds and then print this error and exit.
 
 .. code-block:: bash
 
@@ -230,7 +230,7 @@ The starting pose is implicitly the position published by the joint state publis
 
 One more thing to note about this next section is the use of lambdas for constructing the message type ``target_pose`` and planning.
 This is a pattern you'll find in modern C++ codebases that enables writing in a more declarative style.
-For more information about this pattern there are a couple of links at the end of this tutorial.
+For more information about this pattern, there are a couple of links at the end of this tutorial.
 
 .. code-block:: C++
 
@@ -252,7 +252,7 @@ For more information about this pattern there are a couple of links at the end o
     return std::make_pair(ok, msg);
   }();
 
-Finally, we execute our plan if planning was successful, otherwise we log an error:
+Finally, we execute our plan if planning is successful, otherwise, we log an error:
 
 .. code-block:: C++
 

index.rst

@@ -1,10 +1,10 @@
 MoveIt 2 Documentation
 ======================
 
-Welcome to the unified MoveIt documentation, which includes tutorials, how-to-guides, core concepts, and more.
-
-MoveIt 2 is the robotic manipulation platform for ROS 2, and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials <https://ros-planning.github.io/moveit_tutorials>`_. For the commercially supported version see `MoveIt Pro tutorials <https://docs.picknik.ai/en/stable/>`_.
+Welcome to the unified MoveIt documentation, which includes tutorials, how-to guides, core concepts, and more.
 
+MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials <https://ros-planning.github.io/moveit_tutorials>`_.
+For the commercially supported version see `MoveIt Pro tutorials <https://docs.picknik.ai/en/stable/>`_.
 .. image:: https://moveit.ros.org/assets/images/roadmap.png
    :width: 400px