chore(typo): fix typos in comment

control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -924,7 +924,7 @@ double PidLongitudinalController::applyVelocityFeedback(
     m_pid_vel.calculate(error_vel_filtered, dt, enable_integration, pid_contributions);
 
   // Feedforward scaling:
-  // This is for the coordinate convertion where feedforward is applied, from Time to Arclength.
+  // This is for the coordinate conversion where feedforward is applied, from Time to Arclength.
   // Details: For accurate control, the feedforward should be calculated in the arclength coordinate
   // system, not in the time coordinate system. Otherwise, even if FF is applied, the vehicle speed
   // deviation will be bigger.

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

@@ -132,7 +132,7 @@ BigVehicleTracker::BigVehicleTracker(
       object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z};
     last_input_bounding_box_ = bounding_box_;
   } else {
-    // past defalut value
+    // past default value
     // bounding_box_ = {7.0, 2.0, 2.0};
     autoware_auto_perception_msgs::msg::DetectedObject bbox_object;
     utils::convertConvexHullToBoundingBox(object, bbox_object);

planning/behavior_velocity_planner/config/intersection.param.yaml

@@ -21,7 +21,7 @@
       use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
       assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled
-      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection
+      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
 
     merge_from_private_road:
       stop_duration_sec: 1.0

planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

@@ -86,14 +86,14 @@ class IntersectionModule : public SceneModuleInterface
     double min_predicted_path_confidence;
     //! minimum confidence value of predicted path to use for collision detection
     double external_input_timeout;          //! used to disable external input
-    double minimum_ego_predicted_velocity;  //! used to calclate ego's future velocity profile
+    double minimum_ego_predicted_velocity;  //! used to calculate ego's future velocity profile
     double collision_start_margin_time;     //! start margin time to check collision
     double collision_end_margin_time;       //! end margin time to check collision
     bool use_stuck_stopline;  //! stopline generate before the intersection lanelet when is_stuck.
     double
       assumed_front_car_decel;  //! the expected deceleration of front car when front car as well
     bool enable_front_car_decel_prediction;  //! flag for using above feature
-    double stop_overshoot_margin;            //! overshoot margin for stuck, collsion detection
+    double stop_overshoot_margin;            //! overshoot margin for stuck, collision detection
   };
 
   IntersectionModule(

planning/behavior_velocity_planner/include/utilization/util.hpp

@@ -295,7 +295,7 @@ boost::optional<geometry_msgs::msg::Pose> insertStopPoint(
   const geometry_msgs::msg::Point & stop_point, const size_t stop_seg_idx, PathWithLaneId & output);
 
 /*
-  @brief return 'associatvie' lanes in the intersection. 'associative' means that a lane shares same
+  @brief return 'associative' lanes in the intersection. 'associative' means that a lane shares same
   or lane-changeable parent lanes with `lane` and has same turn_direction value.
  */
 std::set<int> getAssociativeIntersectionLanelets(

vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp

@@ -296,13 +296,13 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   bool isTimeout(const DataStampedPtr & data_stamped, const double timeout_sec);
 
   /* for covariance calculation */
-  // mean value on each cell (counting methoud depends on the update algorithm)
+  // mean value on each cell (counting method depends on the update algorithm)
   Eigen::MatrixXd accel_data_mean_mat_;
   Eigen::MatrixXd brake_data_mean_mat_;
-  // calculated vairiance on each cell
+  // calculated variance on each cell
   Eigen::MatrixXd accel_data_covariance_mat_;
   Eigen::MatrixXd brake_data_covariance_mat_;
-  // number of data on each cell (counting methoud depends on the update algorithm)
+  // number of data on each cell (counting method depends on the update algorithm)
   Eigen::MatrixXd accel_data_num_;
   Eigen::MatrixXd brake_data_num_;
 

vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -155,7 +155,7 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod
   std::copy(accel_map_value_.begin(), accel_map_value_.end(), update_accel_map_value_.begin());
   std::copy(brake_map_value_.begin(), brake_map_value_.end(), update_brake_map_value_.begin());
 
-  // inialize matrix for covariance calculation
+  // initialize matrix for covariance calculation
   {
     const auto genConstMat = [](const Map & map, const auto val) {
       return Eigen::MatrixXd::Constant(map.size(), map.at(0).size(), val);