address mistyping detected by codespell checker. (backport #4980) (#4982

) * address mistyping detected by codespell checker. (#4980) Signed-off-by: Tomoya Fujita <[email protected]> (cherry picked from commit 49f66fd) Signed-off-by: Alejandro Hernandez Cordero <[email protected]> Co-authored-by: Tomoya Fujita <[email protected]> Co-authored-by: Alejandro Hernandez Cordero <[email protected]>
ros2 · Jan 30, 2025 · 9c1f5e1 · 9c1f5e1
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diff --git a/source/Concepts/Basic/About-Interfaces.rst b/source/Concepts/Basic/About-Interfaces.rst
@@ -207,7 +207,7 @@ For example:
 Constants
 ^^^^^^^^^
 
-Each constant definition is like a field description with a default value, except that this value can never be changed programatically.
+Each constant definition is like a field description with a default value, except that this value can never be changed programmatically.
 This value assignment is indicated by use of an equal '=' sign, e.g.
 
 .. code-block:: bash

diff --git a/source/Concepts/Basic/About-Topics.rst b/source/Concepts/Basic/About-Topics.rst
@@ -14,7 +14,7 @@ Publish/Subscribe
 -----------------
 
 A publish/subscribe system is one in which there are producers of data (publishers) and consumers of data (subscribers).
-The publishers and subscribers know how to contact each other through the concept of a "topic", which is a common name so that the entites can find each other.
+The publishers and subscribers know how to contact each other through the concept of a "topic", which is a common name so that the entities can find each other.
 For instance, when you create a publisher, you must also give it a string that is the name of the topic; the same goes for the subscriber.
 Any publishers and subscribers that are on the same topic name can directly communicate with each other.
 There may be zero or more publishers and zero or more subscribers on any particular topic.

diff --git a/source/Concepts/Intermediate/About-RQt.rst b/source/Concepts/Intermediate/About-RQt.rst
@@ -56,7 +56,7 @@ RQt Components Structure
 
 RQt consists of two metapackages:
 
-* *rqt* - core infrastucture modules.
+* *rqt* - core infrastructure modules.
 * *rqt_common_plugins* - Commonly useful debugging tools.
 
 Advantage of RQt framework
@@ -72,7 +72,7 @@ Compared to building your own GUIs from scratch:
 From system architecture's perspective:
 
 * Support multi-platform (basically wherever `QT <http://qt-project.org/>`__ and ROS run) and multi-language (``Python``, ``C++``).
-* Manageable lifecycle: RQt plugins using a common API makes maintainance & reuse easier.
+* Manageable lifecycle: RQt plugins using a common API makes maintenance & reuse easier.
 
 
 Further Reading

diff --git a/source/How-To-Guides/Ament-CMake-Documentation.rst b/source/How-To-Guides/Ament-CMake-Documentation.rst
@@ -341,7 +341,7 @@ The macros have additional parameters:
 
     find_package(ament_cmake_gtest REQUIRED)
     ament_add_gtest(some_test <test_sources>
-      APPEND_ENV PATH=some/addtional/path/for/testing/resources)
+      APPEND_ENV PATH=some/additional/path/for/testing/resources)
 
 - ``APPEND_LIBRARY_DIRS``: append libraries so that they can be found by the linker at runtime.
   This can be achieved by setting environment variables like ``PATH`` on Windows and ``LD_LIBRARY_PATH`` on Linux, but this makes the call platform specific.

diff --git a/source/How-To-Guides/Core-maintainer-guide.rst b/source/How-To-Guides/Core-maintainer-guide.rst
@@ -6,7 +6,7 @@
 ROS 2 Core Maintainer Guide
 ===========================
 
-Each package in the ROS 2 core has one or more maintainers that are responsibile for the general health of the package.
+Each package in the ROS 2 core has one or more maintainers that are responsible for the general health of the package.
 This guide gives some information about the responsibilities of a ROS 2 core package maintainer.
 
 .. contents:: Table of Contents

diff --git a/source/How-To-Guides/Getting-Backtraces-in-ROS-2.rst b/source/How-To-Guides/Getting-Backtraces-in-ROS-2.rst
@@ -232,7 +232,7 @@ We will insert the GDB snippet here.
 
   prefix=['xterm -e gdb -ex run --args']
 
-This will provide a more interactive debbuging experience.
+This will provide a more interactive debugging experience.
 Example usecase for debugging building upon ``'start_sync_slam_toolbox_node'`` -
 
 .. code-block:: python

diff --git a/source/How-To-Guides/Installation-Troubleshooting.rst b/source/How-To-Guides/Installation-Troubleshooting.rst
@@ -51,7 +51,7 @@ then you will need to update your firewall configuration to allow multicast usin
    sudo ufw allow in proto udp from 224.0.0.0/4
 
 
-You can check if the multicast flag is enabled for your network interface using the :code:`ifconfig` tool and looking for :code:`MULITCAST` in the flags section:
+You can check if the multicast flag is enabled for your network interface using the :code:`ifconfig` tool and looking for :code:`MULTICAST` in the flags section:
 
 .. code-block:: bash
 
@@ -218,7 +218,7 @@ To resolve this error, you will need to:
 
 rosdep install error ``homebrew: Failed to detect successful installation of [qt5]``
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-While following the :doc:`Creating a workspace <../Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace>` tutorial, you might encounter the following error stating that ``rosdep`` failes to install Qt5.
+While following the :doc:`Creating a workspace <../Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace>` tutorial, you might encounter the following error stating that ``rosdep`` fails to install Qt5.
 
 .. code-block:: bash
 

diff --git a/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst b/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst
@@ -109,7 +109,7 @@ If your ``CMakeLists.txt`` uses ``include_directories()``, then delete those cal
    # Delete calls to include_directories like this one!
    include_directories(include ${catkin_INCLUDE_DIRS})
 
-Add a call ``target_include_directories()`` for every library in your pacakage (`example <https://github.com/ros2/geometry2/blob/d85102217f692746abea8546c8e41f0abc95c8b8/tf2/CMakeLists.txt#L24-L26>`__).
+Add a call ``target_include_directories()`` for every library in your package (`example <https://github.com/ros2/geometry2/blob/d85102217f692746abea8546c8e41f0abc95c8b8/tf2/CMakeLists.txt#L24-L26>`__).
 
 .. code-block:: cmake
 

diff --git a/source/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.rst b/source/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.rst
@@ -314,7 +314,7 @@ New tags in ROS 2
 set_env and unset_env
 ^^^^^^^^^^^^^^^^^^^^^
 
-See `env`_ tag decription.
+See `env`_ tag description.
 
 push_ros_namespace
 ^^^^^^^^^^^^^^^^^^

diff --git a/source/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Package-Example.rst b/source/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Package-Example.rst
@@ -485,7 +485,7 @@ Remove the statement that imports ``rospy``.
     # Remove this
     import rospy
 
-Rplace it with a statement that imports ``rclpy``.
+Replace it with a statement that imports ``rclpy``.
 
 .. code-block:: Python
 
@@ -807,7 +807,7 @@ Echo the message published by the node in the third terminal:
 
 You should see messages with the current time being published in the second terminal, and those same messages received in the third.
 
-Refactor code to use ROS 2 convensions
+Refactor code to use ROS 2 conventions
 --------------------------------------
 
 You have successfully migrated a ROS 1 Python package to ROS 2!

diff --git a/source/How-To-Guides/Using-Variants.rst b/source/How-To-Guides/Using-Variants.rst
@@ -1,7 +1,7 @@
 Using variants
 ==============
 
-Metapackages do not provide software directly but depend on a group of other related packages to provide a convienent installation mechanism for the complete group of packages. [#]_ [#]_
+Metapackages do not provide software directly but depend on a group of other related packages to provide a convenient installation mechanism for the complete group of packages. [#]_ [#]_
 Variants are a list of official metapackages for commonly useful groups of ROS packages.
 
 .. [#] https://wiki.debian.org/metapackage

diff --git a/source/How-To-Guides/Using-ros2-param.rst b/source/How-To-Guides/Using-ros2-param.rst
@@ -64,7 +64,7 @@ This can be worked around by using the YAML syntax for explicitly setting string
   ros param set /my_node my_string '!!str off'
 
 Additionally, YAML supports heterogeneous lists, containing (say) a string, a boolean, and an integer.
-However, ROS 2 parameters do not support heterogenous lists, so any YAML list that has multiple types will be interpreted as a string.
+However, ROS 2 parameters do not support heterogeneous lists, so any YAML list that has multiple types will be interpreted as a string.
 Assuming that the parameter ``my_int_array`` on node ``my_node`` is of type integer array, the following will not work:
 
 .. code-block:: console

diff --git a/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst b/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst
@@ -19,7 +19,7 @@ The university license application can be found `here <https://www.rti.com/free-
 RTI Connext DDS Evaluation
 --------------------------
 
-To install RTI Connext DDS **version 6.0.1** Evalution:
+To install RTI Connext DDS **version 6.0.1** Evaluation:
  * Visit the `RTI Free Trial (6.0.1) site <https://www.rti.com/free-trial>`__.
  * Download the version(s) to match your environment.
  * Contact [email protected] for an evaluation license.

diff --git a/source/The-ROS2-Project/Contributing/Contributing-To-ROS-2-Documentation.rst b/source/The-ROS2-Project/Contributing/Contributing-To-ROS-2-Documentation.rst
@@ -186,7 +186,7 @@ Migrating a Wiki File
    In the case where there is a table of contents, the first useful tag may be an ``<h2>`` tag.  Similarly, the ROS wiki contains some footer text that starts with ``<div id="pagebottom"></div>`` and ends just above ``</body></html>`` that can also be removed.
 
 #. Convert your html file by running a PanDoc conversion between HTML and restructured text.
-   The following command coverts an HTML file to the equivalent reStructured text files: ``pandoc -f html -t rst urdf.html > URDF.rst``.
+   The following command converts an HTML file to the equivalent reStructured text files: ``pandoc -f html -t rst urdf.html > URDF.rst``.
 
 #. Attempt to build your new documentation using the ``make html`` command.
    There may be errors and warnings that you will need to address.
@@ -202,7 +202,7 @@ Migrating a Wiki File
 
 #. For each image files downloaded update the image file links to point to the correct image directory for the ROS Docs.
    If any of the images require updating, or could be replaced with a `Mermaid <https://mermaid.js.org/intro/>`__ chart, please make this change.
-   Be aware that Mermaid.js is only supported in the core ROS 2 documenation currently.
+   Be aware that Mermaid.js is only supported in the core ROS 2 documentation currently.
 
 #. Once your document is complete add a table of contents to the top of your new rst document using the appropriate Sphinx commands.
    This block should replace any existing table of contents from the old ROS Wiki.

diff --git a/source/The-ROS2-Project/Contributing/Developer-Guide.rst b/source/The-ROS2-Project/Contributing/Developer-Guide.rst
@@ -206,8 +206,8 @@ Examples:
 
   * This is an example of describing an extension point for a package
 
-API Documetation for ROS Packages
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+API Documentation for ROS Packages
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 API documentation for all released ROS packages can be `found here <https://docs.ros.org/en/{DISTRO}/p/>`__.
 We recommend using `index.ros.org <https://index.ros.org/>`_ to search through available ROS packages to find their documentation.

diff --git a/source/The-ROS2-Project/ROSCon-Content.rst b/source/The-ROS2-Project/ROSCon-Content.rst
@@ -116,7 +116,7 @@ The following `ROSCon <https://roscon.ros.org>`__ talks have been given on ROS 2
          - `video <https://vimeo.com/1026034712>`__
        * - Building Foundation Model-powered Robots with ROS: A Survey
          - `video <https://vimeo.com/1026027743>`__
-       * - Scenic for ROS: A Probabilistic Programming Language for World Modelin...
+       * - Scenic for ROS: A Probabilistic Programming Language for World Modeling...
          - `video <https://vimeo.com/1026032775>`__
        * - Software Platform Design and SDK Development for ROS 2-based LG AI Com...
          - `video <https://vimeo.com/1026030733>`__

diff --git a/source/Tutorials/Advanced/FastDDS-Configuration.rst b/source/Tutorials/Advanced/FastDDS-Configuration.rst
@@ -462,7 +462,7 @@ In order to use the values in the XML file, the environment variable ``RMW_FASTR
 
 However, this entails **another caveat**: If ``RMW_FASTRTPS_USE_QOS_FROM_XML`` is set, but the XML file does not define
 ``publishMode`` or ``historyMemoryPolicy``, these attributes take the *Fast DDS* default value instead of the ``rmw_fastrtps`` default value.
-This is important, especially for ``historyMemoryPolicy``, because the *Fast DDS* deafult value is ``PREALLOCATED`` which does not work with ROS2 topic data types.
+This is important, especially for ``historyMemoryPolicy``, because the *Fast DDS* default value is ``PREALLOCATED`` which does not work with ROS2 topic data types.
 Therefore, in the example, a valid value for this policy has been explicitly set (``DYNAMIC``).
 
 

diff --git a/source/Tutorials/Advanced/Reading-From-A-Bag-File-CPP.rst b/source/Tutorials/Advanced/Reading-From-A-Bag-File-CPP.rst
@@ -200,7 +200,7 @@ Then, we can pass both these objects to the ``rclcpp::Serialization::deserialize
     serialization_.deserialize_message(&serialized_msg, ros_msg.get());
 
 Finally, we publish the deserialized message and print out the xy coordinate to the terminal.
-We also break out of the loop so that we publish the next message during the next timer calback.
+We also break out of the loop so that we publish the next message during the next timer callback.
 
 .. code-block:: C++
 

diff --git a/source/Tutorials/Advanced/Security/Access-Controls.rst b/source/Tutorials/Advanced/Security/Access-Controls.rst
@@ -109,7 +109,7 @@ Sign the policy file
 
 This next command creates the new S/MIME signed policy file ``permissions.p7s`` from the updated XML file ``permissions.xml``.
 The file must be signed with the Permissions CA certificate, **which requires access to the Permission CA private key**.
-If the private key has been protected, additional steps may be required to unlock and use it accoring to your security plan.
+If the private key has been protected, additional steps may be required to unlock and use it according to your security plan.
 
 .. code-block:: bash
 

diff --git a/source/Tutorials/Advanced/Security/Deployment-Guidelines.rst b/source/Tutorials/Advanced/Security/Deployment-Guidelines.rst
@@ -16,7 +16,7 @@ Background
 ----------
 
 Typical deployment scenarios often involve shipping containerized applications, or packages, into remote systems.
-Special attention should be payed when deploying security enabled applications, requiring users to reason about the sensitivity of packaged files.
+Special attention should be paid when deploying security enabled applications, requiring users to reason about the sensitivity of packaged files.
 
 Complying with the `DDS Security standard <https://www.omg.org/spec/DDS-SECURITY/1.1/About-DDS-SECURITY/>`_,
 the ``sros2`` package provides a collection of utilities for managing security under ROS 2 environments in a highly modular and flexible fashion.
@@ -124,7 +124,7 @@ Now, build the docker image with the command:
 Understanding the compose file
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-A compose configration file takes an image to create containers as services.
+A compose configuration file takes an image to create containers as services.
 In this tutorial, three services are defined within the configuration:
 
 * *keystore-creator*: That, similarly to previous tutorials, it internally initializes a new keystore tree directory.

diff --git a/source/Tutorials/Advanced/Security/Introducing-ros2-security.rst b/source/Tutorials/Advanced/Security/Introducing-ros2-security.rst
@@ -80,7 +80,7 @@ Selecting an alternate middleware
 If you choose not to use the default middleware implementation, be sure to :doc:`change your DDS implementation <../../../Installation/DDS-Implementations/>` before proceeding.
 
 ROS 2 allows you to change the DDS implementation at runtime.
-See `how to work with mulitple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>` to explore different middleware implementations.
+See `how to work with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>` to explore different middleware implementations.
 
 Note that secure communication between vendors is not supported.
 

diff --git a/source/Tutorials/Advanced/Security/The-Keystore.rst b/source/Tutorials/Advanced/Security/The-Keystore.rst
@@ -22,8 +22,8 @@ Background
 ----------
 
 The ``sros2`` package can be used to create keys, certificates and policies necessary to enable ROS 2 security.
-However, the security configuration is extrememly flexible.
-A basic understanding of the ROS 2 Security Keystore will allow integration with an existing PKI (Public Key Infrastructure) and managment of sensitive key materials consistent with organizational policies.
+However, the security configuration is extremely flexible.
+A basic understanding of the ROS 2 Security Keystore will allow integration with an existing PKI (Public Key Infrastructure) and management of sensitive key materials consistent with organizational policies.
 
 
 Security Artifact Locations
@@ -175,11 +175,11 @@ Secure processes (typically ROS nodes) run within a security enclave.
 In the simplest case, all the processes can be consolidated into the same enclave, and all processes will then use the same security policy.
 However, to apply different policies to different processes, the processes can use different security enclaves when starting.
 For more details about security enclaves, see the `design document <https://design.ros2.org/articles/ros2_security_enclaves.html>`_.
-The security enclave is specifed by using the ROS argument ``--enclave`` when running a node.
+The security enclave is specified by using the ROS argument ``--enclave`` when running a node.
 
 **Each security enclave requires six files** in order to enable security.
 Each file **must** be named as defined below, and as outlined in the `DDS Security standard <https://www.omg.org/spec/DDS-SECURITY/1.1/About-DDS-SECURITY/>`_.
-In order to avoid having mulitple copies of the same files, the ``sros2`` utilities create links for each enclave to the single governance policy, the Identity CA and Permissions CA descibed above.
+In order to avoid having multiple copies of the same files, the ``sros2`` utilities create links for each enclave to the single governance policy, the Identity CA and Permissions CA described above.
 
 See the following six files within the ``listener`` enclave.
 Three are specific to this enclave, while three are generic to this ROS system:

diff --git a/source/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.rst b/source/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.rst
@@ -111,7 +111,7 @@ If you don't want to have to source the setup file every time you open a new she
 
         C:\dev\ros2_{DISTRO}\local_setup.ps1
 
-      PowerShell will request permission to run this script everytime a new shell is opened.
+      PowerShell will request permission to run this script every time a new shell is opened.
       To avoid that issue you can run:
 
       .. code-block:: console

diff --git a/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.rst b/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.rst
@@ -292,7 +292,7 @@ There are two ways to accomplish this.
 3.1 Change via the console
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-This part will use the knowledge you have gained from the :doc:`tutoral about parameters <../Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters>` and apply it to the node you have just created.
+This part will use the knowledge you have gained from the :doc:`tutorial about parameters <../Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters>` and apply it to the node you have just created.
 
 Make sure the node is running:
 

diff --git a/source/Tutorials/Demos/Real-Time-Programming.rst b/source/Tutorials/Demos/Real-Time-Programming.rst
@@ -165,7 +165,7 @@ The requirements of a real-time system depend on the application, but let's say
 So, our average latency was really good in this run, but the maximum latency was unacceptable because it actually exceeded our update loop! What happened?
 
 We may be suffering from a non-deterministic scheduler.
-If you're running a vanilla Linux system and you don't have the RT_PREEMPT kernel installed, you probably won't be able to meet the real-time goal we set for ourselves, because the Linux scheduler won't allow you to arbitrarily pre-empt threads at the user level.
+If you're running a vanilla Linux system and you don't have the RT_PREEMPT kernel installed, you probably won't be able to meet the real-time goal we set for ourselves, because the Linux scheduler won't allow you to arbitrarily preempt threads at the user level.
 
 See the `realtime design article <https://design.ros2.org/articles/realtime_background.html#multithreaded-programming-and-synchronization>`__ for more information.
 

diff --git a/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst b/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst
@@ -324,7 +324,7 @@ Now, to test monitoring of remote parameters, first run the newly-built paramete
 
      ros2 run cpp_parameter_event_handler parameter_event_handler
 
-Next, from another teminal (with ROS initialized), run the parameter_blackboard demo application, as follows:
+Next, from another terminal (with ROS initialized), run the parameter_blackboard demo application, as follows:
 
 .. code-block:: console
 

diff --git a/source/Tutorials/Intermediate/RViz/RViz-User-Guide/RViz-User-Guide.rst b/source/Tutorials/Intermediate/RViz/RViz-User-Guide/RViz-User-Guide.rst
@@ -169,7 +169,7 @@ A configuration contains:
 
 * Displays + their properties
 * Tool properties
-* The viewpoint and settings for the 3D visualzation
+* The viewpoint and settings for the 3D visualization
 
 Views Panel
 -----------

diff --git a/source/Tutorials/Intermediate/Tf2/Quaternion-Fundamentals.rst b/source/Tutorials/Intermediate/Tf2/Quaternion-Fundamentals.rst
@@ -32,7 +32,7 @@ In this tutorial, you will learn how quaternions and conversion methods work in
 Prerequisites
 -------------
 
-However, this is not a hard requirement and you can stick to any other geometric transfromation library that suit you best.
+However, this is not a hard requirement and you can stick to any other geometric transformation library that suit you best.
 You can take a look at libraries like `transforms3d <https://github.com/matthew-brett/transforms3d>`_, `scipy.spatial.transform <https://github.com/scipy/scipy/tree/master/scipy/spatial/transform>`_, `pytransform3d <https://github.com/rock-learning/pytransform3d>`_, `numpy-quaternion <https://github.com/moble/quaternion>`_ or `blender.mathutils <https://docs.blender.org/api/master/mathutils.html>`_.
 
 Components of a quaternion