fix code comment typos

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -268,7 +268,7 @@ class BtActionNode : public BT::ActionNodeBase
         // Action related failure that should not fail the tree, but the node
         return BT::NodeStatus::FAILURE;
       } else {
-        // Internal exception to propogate to the tree
+        // Internal exception to propagate to the tree
         throw e;
       }
     }

nav2_collision_monitor/src/collision_monitor_node.cpp

@@ -414,7 +414,7 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in)
     notifyActionState(robot_action, action_polygon);
   }
 
-  // Publish requred robot velocity
+  // Publish required robot velocity
   publishVelocity(robot_action);
 
   // Publish polygons for better visualization

nav2_costmap_2d/test/module_tests.cpp

@@ -1123,7 +1123,7 @@ TEST(costmap, testTrickyPropagation) {
   // Add a dynamic obstacle
   pcl::PointCloud<pcl::PointXYZ> c2;
   c2.points.resize(3);
-  // Dynamic obstacle that raytaces.
+  // Dynamic obstacle that raytraces.
   c2.points[0].x = 7.0;
   c2.points[0].y = 8.0;
   c2.points[0].z = 1.0;
@@ -1167,7 +1167,7 @@ TEST(costmap, testTrickyPropagation) {
 
   pcl::PointCloud<pcl::PointXYZ> c;
   c.points.resize(1);
-  // Dynamic obstacle that raytaces the one at (3.0, 4.0).
+  // Dynamic obstacle that raytraces the one at (3.0, 4.0).
   c.points[0].x = 4.0;
   c.points[0].y = 5.0;
   c.points[0].z = 1.0;

nav2_costmap_2d/test/unit/binary_filter_test.cpp

@@ -703,7 +703,7 @@ void TestNode::reset()
 
 TEST_F(TestNode, testBinaryState)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   ASSERT_TRUE(createBinaryFilter("map", 10.0));
@@ -718,7 +718,7 @@ TEST_F(TestNode, testBinaryState)
 
 TEST_F(TestNode, testBinaryStateScaled)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 100.0, -1.0);
   ASSERT_TRUE(createBinaryFilter("map", 35.0));
@@ -733,7 +733,7 @@ TEST_F(TestNode, testBinaryStateScaled)
 
 TEST_F(TestNode, testInvertedBinaryState)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   setDefaultState(true);
@@ -749,7 +749,7 @@ TEST_F(TestNode, testInvertedBinaryState)
 
 TEST_F(TestNode, testOutOfBounds)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   ASSERT_TRUE(createBinaryFilter("map", 10.0));
@@ -764,7 +764,7 @@ TEST_F(TestNode, testOutOfBounds)
 
 TEST_F(TestNode, testInfoRePublish)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   // Publish Info with incorrect dummy mask topic
   publishMaps(nav2_costmap_2d::BINARY_FILTER, "dummy_topic", 0.0, 1.0);
@@ -805,7 +805,7 @@ TEST_F(TestNode, testMaskRePublish)
 
 TEST_F(TestNode, testIncorrectFilterType)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(INCORRECT_TYPE, MASK_TOPIC, 0.0, 1.0);
   ASSERT_FALSE(createBinaryFilter("map", 10.0));
@@ -817,7 +817,7 @@ TEST_F(TestNode, testIncorrectFilterType)
 
 TEST_F(TestNode, testDifferentFrame)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   ASSERT_TRUE(createBinaryFilter("odom", 10.0));
@@ -833,7 +833,7 @@ TEST_F(TestNode, testDifferentFrame)
 
 TEST_F(TestNode, testIncorrectFrame)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   ASSERT_TRUE(createBinaryFilter("odom", 10.0));
@@ -849,7 +849,7 @@ TEST_F(TestNode, testIncorrectFrame)
 
 TEST_F(TestNode, testResetState)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::BINARY_FILTER, MASK_TOPIC, 0.0, 1.0);
   ASSERT_TRUE(createBinaryFilter("map", 10.0));

nav2_costmap_2d/test/unit/keepout_filter_test.cpp

@@ -341,7 +341,7 @@ void TestNode::reset()
 
 TEST_F(TestNode, testFreeMasterLethalKeepout)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_OCCUPIED, "map");
   publishMaps();
   createKeepoutFilter("map");
@@ -356,7 +356,7 @@ TEST_F(TestNode, testFreeMasterLethalKeepout)
 
 TEST_F(TestNode, testUnknownMasterNonLethalKeepout)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(
     nav2_costmap_2d::NO_INFORMATION,
     (nav2_util::OCC_GRID_OCCUPIED - nav2_util::OCC_GRID_FREE) / 2,
@@ -376,7 +376,7 @@ TEST_F(TestNode, testUnknownMasterNonLethalKeepout)
 
 TEST_F(TestNode, testFreeKeepout)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_FREE, "map");
   publishMaps();
   createKeepoutFilter("map");
@@ -395,7 +395,7 @@ TEST_F(TestNode, testFreeKeepout)
 
 TEST_F(TestNode, testUnknownKeepout)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_UNKNOWN, "map");
   publishMaps();
   createKeepoutFilter("map");
@@ -414,7 +414,7 @@ TEST_F(TestNode, testUnknownKeepout)
 
 TEST_F(TestNode, testInfoRePublish)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_OCCUPIED, "map");
   publishMaps();
   createKeepoutFilter("map");
@@ -433,7 +433,7 @@ TEST_F(TestNode, testInfoRePublish)
 
 TEST_F(TestNode, testMaskRePublish)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_OCCUPIED, "map");
   publishMaps();
   createKeepoutFilter("map");
@@ -451,7 +451,7 @@ TEST_F(TestNode, testMaskRePublish)
 
 TEST_F(TestNode, testDifferentFrames)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps(nav2_costmap_2d::FREE_SPACE, nav2_util::OCC_GRID_OCCUPIED, "map");
   publishMaps();
   createKeepoutFilter("odom");

nav2_costmap_2d/test/unit/speed_filter_test.cpp

@@ -633,7 +633,7 @@ void TestNode::reset()
 
 TEST_F(TestNode, testPercentSpeedLimit)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -648,7 +648,7 @@ TEST_F(TestNode, testPercentSpeedLimit)
 
 TEST_F(TestNode, testIncorrectPercentSpeedLimit)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, -50.0, 2.0);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -663,7 +663,7 @@ TEST_F(TestNode, testIncorrectPercentSpeedLimit)
 
 TEST_F(TestNode, testAbsoluteSpeedLimit)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_ABSOLUTE, 1.23, 4.5);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -678,7 +678,7 @@ TEST_F(TestNode, testAbsoluteSpeedLimit)
 
 TEST_F(TestNode, testIncorrectAbsoluteSpeedLimit)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_ABSOLUTE, -50.0, 2.0);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -693,7 +693,7 @@ TEST_F(TestNode, testIncorrectAbsoluteSpeedLimit)
 
 TEST_F(TestNode, testOutOfBounds)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -708,7 +708,7 @@ TEST_F(TestNode, testOutOfBounds)
 
 TEST_F(TestNode, testInfoRePublish)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_ABSOLUTE, 1.23, 4.5);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -728,7 +728,7 @@ TEST_F(TestNode, testInfoRePublish)
 
 TEST_F(TestNode, testMaskRePublish)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_ABSOLUTE, 1.23, 4.5);
   EXPECT_TRUE(createSpeedFilter("map"));
@@ -747,7 +747,7 @@ TEST_F(TestNode, testMaskRePublish)
 
 TEST_F(TestNode, testIncorrectFilterType)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(INCORRECT_TYPE, 1.23, 4.5);
   EXPECT_FALSE(createSpeedFilter("map"));
@@ -759,7 +759,7 @@ TEST_F(TestNode, testIncorrectFilterType)
 
 TEST_F(TestNode, testDifferentFrame)
 {
-  // Initilize test system
+  // Initialize test system
   createMaps("map");
   publishMaps(nav2_costmap_2d::SPEED_FILTER_PERCENT, 0.0, 1.0);
   EXPECT_TRUE(createSpeedFilter("odom"));

nav2_mppi_controller/test/utils_test.cpp

@@ -329,7 +329,7 @@ TEST(UtilsTests, SmootherTest)
   noisey_sequence.vy = 0.0 * xt::ones<float>({30});
   noisey_sequence.wz = 0.3 * xt::ones<float>({30});
 
-  // Make the sequence noisey
+  // Make the sequence noisy
   auto noises = xt::random::randn<float>({30}, 0.0, 0.2);
   noisey_sequence.vx += noises;
   noisey_sequence.vy += noises;

nav2_smac_planner/include/nav2_smac_planner/thirdparty/robin_hood.h

@@ -111,7 +111,7 @@ static Counts& counts() {
 #    error Unsupported bitness
 #endif
 
-// endianess
+// endianness
 #ifdef _MSC_VER
 #    define ROBIN_HOOD_PRIVATE_DEFINITION_LITTLE_ENDIAN() 1
 #    define ROBIN_HOOD_PRIVATE_DEFINITION_BIG_ENDIAN() 0
@@ -2132,7 +2132,7 @@ class Table
             return maxElements * MaxLoadFactor100 / 100;
         }
 
-        // we might be a bit inprecise, but since maxElements is quite large that doesn't matter
+        // we might be a bit imprecise, but since maxElements is quite large that doesn't matter
         return (maxElements / 100) * MaxLoadFactor100;
     }
 

nav2_system_tests/src/behaviors/spin/spin_behavior_tester.cpp

@@ -142,7 +142,7 @@ bool SpinBehaviorTester::defaultSpinBehaviorTest(
   auto goal_msg = Spin::Goal();
   goal_msg.target_yaw = target_yaw;
 
-  // Intialize fake costmap
+  // Initialize fake costmap
   if (make_fake_costmap_) {
     sendFakeCostmap(target_yaw);
     sendFakeOdom(0.0);
@@ -160,7 +160,7 @@ bool SpinBehaviorTester::defaultSpinBehaviorTest(
     fabs(tf2::getYaw(initial_pose.pose.orientation)));
   RCLCPP_INFO(node_->get_logger(), "Before sending goal");
 
-  // Intialize fake costmap
+  // Initialize fake costmap
   if (make_fake_costmap_) {
     sendFakeCostmap(target_yaw);
     sendFakeOdom(0.0);

nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp

@@ -112,7 +112,7 @@ class VoxelGrid
 
     unsigned int marked_bits = *col >> 16;
 
-    // make sure the number of bits in each is below our thesholds
+    // make sure the number of bits in each is below our thresholds
     return !bitsBelowThreshold(marked_bits, marked_threshold);
   }
 
@@ -146,7 +146,7 @@ class VoxelGrid
     unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col);
     unsigned int marked_bits = *col >> 16;
 
-    // make sure the number of bits in each is below our thesholds
+    // make sure the number of bits in each is below our thresholds
     if (bitsBelowThreshold(unknown_bits, 1) && bitsBelowThreshold(marked_bits, 1)) {
       costmap[index] = 0;
     }
@@ -392,7 +392,7 @@ class VoxelGrid
       unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col);
       unsigned int marked_bits = *col >> 16;
 
-      // make sure the number of bits in each is below our thesholds
+      // make sure the number of bits in each is below our thresholds
       if (bitsBelowThreshold(marked_bits, marked_clear_threshold_)) {
         if (bitsBelowThreshold(unknown_bits, unknown_clear_threshold_)) {
           costmap_[offset] = free_cost_;

nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp

@@ -108,7 +108,7 @@ class PhotoAtWaypoint : public nav2_core::WaypointTaskExecutor
   sensor_msgs::msg::Image::SharedPtr curr_frame_msg_;
   // global logger
   rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")};
-  // ros susbcriber to get camera image
+  // ros subscriber to get camera image
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_image_subscriber_;
 };
 }  // namespace nav2_waypoint_follower