Fix typos

Author: Acuadros95

_docs/tutorials/programming_rcl_rclc/parameters/parameters.md

@@ -45,7 +45,7 @@ Note: micro-ROS parameter server is only supported on ROS2 galactic distribution
 
 - Memory and executor requirements:
     The variable `RCLC_PARAMETER_EXECUTOR_HANDLES_NUMBER` defines the RCLC executor handles required for a parameter server. 
-    This needs to be taken into account when initializing the executor and on the colcon memory configuration of the `rmw-microxredds` package, which will need atleast 4 services and 1 publisher:
+    This needs to be taken into account when initializing the executor and on the colcon memory configuration of the `rmw-microxredds` package, which will need at least 4 services and 1 publisher:
 
     ```C
     # colcon.meta example with minimum memory requirements to use parameter server
@@ -72,7 +72,7 @@ Note: micro-ROS parameter server is only supported on ROS2 galactic distribution
 
 ## <a name="parameters_callback"/>Callback
 
-When adding the paramater server to the executor, a callback can be configured.
+When adding the parameter server to the executor, a callback can be configured.
 This callback will be executed after a parameter value is modified.
 
 A pointer to the changed parameter is passed as first and only argument. Example:

_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md

@@ -73,7 +73,7 @@ Starting from a code where RCL is initialized and a micro-ROS node is created, t
   }
   ```
   
-  For a detail on the avaliable QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
+  For a detail on the available QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
 
 ## <a name="pub_publish"/>Publish a message
 
@@ -114,7 +114,7 @@ The suscriptor initialization is almost identical to the publisher one:
   // Get message type support
   const rosidl_message_type_support_t * type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
 
-  // Initialize a realiable subscriber
+  // Initialize a reliable subscriber
   rcl_ret_t rc = rclc_subscription_init_default(&subscriber, &node, &type_support, &topic_name);
 
   if (RCL_RET_OK != rc) {
@@ -164,11 +164,11 @@ The suscriptor initialization is almost identical to the publisher one:
   }
   ```
 
-For a detail on the avaliable QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
+For a detail on the available QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
   
 ### <a name="sub_callback"/>Callbacks
 The executor is responsible to call the configured callback when a message is published. 
-The function will have the message as its only argument, containing the values sended by the publisher:
+The function will have the message as its only argument, containing the values sent by the publisher:
 
 // TODO: explain function prototype?  
 ```C
@@ -201,7 +201,7 @@ rclc_executor_spin(&executor);
 ```
 
 ## <a name="pubsub_msg"/>Message initialization
-Before publishing or receiving a message, it may be neccesary to initialize its memory for types with strings or sequences.
+Before publishing or receiving a message, it may be necessary to initialize its memory for types with strings or sequences.
 Check the [Handling messages memory in micro-ROS](../../advanced/handling_type_memory/) section for details.
 
 ## <a name="pubsub_end"/>Cleaning Up

_docs/tutorials/programming_rcl_rclc/qos/QoS.md

@@ -8,9 +8,9 @@ permalink: /docs/tutorials/programming_rcl_rclc/qos/
 
 ## <a name="qos"/>Reliable QoS
 
-Reliable communication implies a confirmation for each message sended. This mode can detect errors in the communication process at the cost of increasing the message latency and the resources usage.
+Reliable communication implies a confirmation for each message sent. This mode can detect errors in the communication process at the cost of increasing the message latency and the resources usage.
 
-This message confirmation proccess can increase blocking time on `rcl_publish` or executor spin calls as reliable publishers, services and clients will wait for acknowledgement for each sended message. `rmw-microxrcedds` offers an API to individually configure the acknowledgement timeout on them:
+This message confirmation proccess can increase blocking time on `rcl_publish` or executor spin calls as reliable publishers, services and clients will wait for acknowledgement for each sent message. `rmw-microxrcedds` offers an API to individually configure the acknowledgement timeout on them:
 
   ```C
   // Confirmation timeout in milliseconds
@@ -35,7 +35,7 @@ This message confirmation proccess can increase blocking time on `rcl_publish` o
 
 ## <a name="qos"/>Best Effort
 
-In best effort mode no acknowledgement is needed, the messages sended are expected to be received. This method improves publication throughput and reduces resources usage but is vulnerable to communication errors.
+In best effort mode no acknowledgement is needed, the messages sent are expected to be received. This method improves publication throughput and reduces resources usage but is vulnerable to communication errors.
 
 ## <a name="qos"/>Custom QoS configuration
 

_docs/tutorials/programming_rcl_rclc/service/services.md

@@ -72,12 +72,12 @@ Starting from a code where RCL is initialized and a micro-ROS node is created, t
   }
   ```
 
-For a detail on the avaliable QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
+For a detail on the available QoS options and the advantages and disadvantages between reliable and best effort modes, check the [QoS tutorial](../qos/).
 
 ### <a name="server_callback"/>Callback
 
 Once a request arrives, the executor will call the configured callback with the request and response messages as arguments.
-The request message contains the values sended by the client, the response_msg should be modified here as it will be delivered after the callback returns.
+The request message contains the values sent by the client, the response_msg should be modified here as it will be delivered after the callback returns.
 
 Using `AddTwoInts.srv` type definition as an example:
 
@@ -88,7 +88,7 @@ int64 b
 int64 sum
 ```
 
-The client request message will contain two integers `a` and `b`, and expectes the `sum` of them as a response:
+The client request message will contain two integers `a` and `b`, and expects the `sum` of them as a response:
 
 ```C
 void service_callback(const void * request_msg, void * response_msg){
@@ -102,7 +102,7 @@ void service_callback(const void * request_msg, void * response_msg){
 }
 ```
   
-Note that it is neccesary to cast each message to the expected type
+Note that it is necessary to cast each message to the expected type
 
 Once the service and the executor are initialized, the service callback must be added to the executor in order to process incoming requests once the executor is spinning:
 
@@ -190,9 +190,9 @@ The service client initialization is almost identical to the server one:
   
 ### <a name="client_callback"/>Callback
 The executor is responsible to call the configured callback when the service response arrives. 
-The function will have the response message as its only argument, containing the values sended by the server.
+The function will have the response message as its only argument, containing the values sent by the server.
 
-It is neccesary to cast the response message to the expected type. Example:
+It is necessary to cast the response message to the expected type. Example:
 ```C
 void client_callback(const void * response_msg){
   // Cast response message to expected type
@@ -246,7 +246,7 @@ rclc_executor_spin(&executor);
 ```
 
 ## <a name="services_msg"/>Message initialization
-Before sending or receiving a message, it may be neccesary to initialize its memory for types with strings or sequences.
+Before sending or receiving a message, it may be necessary to initialize its memory for types with strings or sequences.
 Check the [Handling messages memory in micro-ROS](../../advanced/handling_type_memory/) section for details.
 
 ## <a name="services_end"/>Cleaning Up