Improved Overall readablity (ros-planning#1177)

amcl/cfg/AMCL.cfg

@@ -11,7 +11,7 @@ gen.add("min_particles", int_t, 0, "Minimum allowed number of particles.", 100,
 gen.add("max_particles", int_t, 0, "Mamimum allowed number of particles.", 5000, 0, 10000)
 
 gen.add("kld_err",  double_t, 0, "Maximum error between the true distribution and the estimated distribution.", .01, 0, 1)
-gen.add("kld_z", double_t, 0, "Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distrubition will be less than kld_err.", .99, 0, 1)
+gen.add("kld_z", double_t, 0, "Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distribution will be less than kld_err.", .99, 0, 1)
 
 gen.add("update_min_d", double_t, 0, "Translational movement required before performing a filter update.", .2, 0, 5)
 gen.add("update_min_a", double_t, 0, "Rotational movement required before performing a filter update.", pi/6, 0, 2*pi)

amcl/src/amcl/pf/pf.c

@@ -132,7 +132,7 @@ void pf_free(pf_t *pf)
   return;
 }
 
-// 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;

amcl/src/amcl/sensors/amcl_laser.cpp

@@ -330,7 +330,7 @@ double AMCLLaser::LikelihoodFieldModelProb(AMCLLaserData *data, pf_sample_set_t*
 
   double max_dist_prob = exp(-(self->map->max_occ_dist * self->map->max_occ_dist) / z_hit_denom);
 
-  //Beam skipping - ignores beams for which a majoirty of particles do not agree with the map
+  //Beam skipping - ignores beams for which a majority of particles do not agree with the map
   //prevents correct particles from getting down weighted because of unexpected obstacles 
   //such as humans 
 

amcl/src/amcl_node.cpp

@@ -181,13 +181,13 @@ class AmclNode
     void updatePoseFromServer();
     void applyInitialPose();
 
-    //parameter for what odom to use
+    //parameter for which odom to use
     std::string odom_frame_id_;
 
     //paramater to store latest odom pose
     geometry_msgs::PoseStamped latest_odom_pose_;
 
-    //parameter for what base to use
+    //parameter for which base to use
     std::string base_frame_id_;
     std::string global_frame_id_;
 
@@ -696,7 +696,7 @@ void AmclNode::runFromBag(const std::string &in_bag_fn, bool trigger_global_loca
         break;
       }
     }
-    ROS_INFO("Waiting for map...");
+    ROS_INFO("Waiting for the map...");
     ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(1.0));
   }
 
@@ -976,7 +976,7 @@ AmclNode::freeMapDependentMemory()
 
 /**
  * Convert an OccupancyGrid map message into the internal
- * representation.  This allocates a map_t and returns it.
+ * representation. This allocates a map_t and returns it.
  */
 map_t*
 AmclNode::convertMap( const nav_msgs::OccupancyGrid& map_msg )