Fixing typos in the first three demo pages (#352)

* Fixed typos in demo 1

* Fixed typos in demo 2

* Fixed typos in demo 3

* typos fixed after review

Co-authored-by: Franck GONZALEZ <franck.gonzalez@irt-jules-verne.fr>

gh_pages/_source/demo1/Bring-up-ROS-system-in-simulation-mode.rst

@@ -13,7 +13,7 @@ In a terminal enter:
 
   roslaunch collision_avoidance_pick_and_place ur5_setup.launch
 
-Rviz will display all the workcell components including the robot in its default position; at this point your system is ready. However, no motion will take place until we run the pick and place node.
+Rviz will display all the workcell components including the robot in its default position; at this stage your system is ready. However, no motion will take place until we run the pick and place node.
 
 
 Setup for real sensor and simulated robot

gh_pages/_source/demo1/Create-pick-moves.rst

@@ -4,7 +4,7 @@ Create Pick Moves
   The gripper moves through three poses in order to do a pick: approach,
   target and retreat. In this exercise, we will use the box pick transform to
   create the pick poses for the :abbr:`TCP (Tool Center Point)` coordinate
-  frame and then transform them to the arm's wrist coordinate frame.
+  frame and then transform them into the arm's wrist coordinate frame.
 
 
 Locate Function
@@ -37,7 +37,7 @@ Complete Code
 * The ``create_manipulation_poses()`` uses the values of the approach and
   retreat distances in order to create the corresponding poses at the desired
   target.
-* Since MoveIt! plans the robot path for the arm's wrist, it is necessary to
+* Since MoveIt! plans the robot path for the wrist of the arm, it is necessary to
   convert all the pick poses to the wrist coordinate frame.
 * The |lookupTransform()|_ method can provide the pose of a target relative to
   another pose.
@@ -68,7 +68,7 @@ Build Code and Run
 
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
-* The tcp and wrist position at the pick will be printed in the terminal. You
+* The TCP and wrist positions at the pick will be printed in the terminal. You
   should see something like this:
 
   .. code-block:: text

gh_pages/_source/demo1/Create-place-moves.rst

@@ -4,7 +4,7 @@ Create Place Moves
   The gripper moves through three poses in order to place the box: Approach,
   place and retreat. In this exercise, we will create these place poses for
   the :abbr:`TCP (Tool Center Point)` coordinate frame and then transform them
-  to the arm's wrist coordinate frame.
+  into the arm's wrist coordinate frame.
 
 
 Locate Function
@@ -34,12 +34,12 @@ Complete Code
     */
     /* ========  ENTER CODE HERE ======== */
 
-* The box's position at the place location is saved in the global variable
+* The position of the box at the place location is saved in the global variable
   ``cfg.BOX_PLACE_TF``.
 * The ``create_manipulation_poses()`` uses the values of the approach and
   retreat distances in order to create the corresponding poses at the desired
   target.
-* Since MoveIt! plans the robot path for the arm's wrist, it is necessary to
+* Since MoveIt! plans the robot path for the wrist of the arm, it is necessary to
   convert all the place poses to the wrist coordinate frame.
 * The |lookupTransform()|_ method can provide the pose of a target relative
   to another pose.
@@ -70,8 +70,8 @@ Build Code and Run
 
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
-* The tcp and wrist position at the place location will be printed on the
-  terminal. You should see something like:
+* The TCP and wrist positions at the place location will be printed on the
+  terminal. You should see something like this:
 
   .. code-block:: text
 

gh_pages/_source/demo1/Detect-box-pick-point.rst

@@ -67,7 +67,7 @@ Build Code and Run
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
 * A blue box and voxel grid obstacles will be displayed in rviz. In the
-  terminal you should see a message like the following:
+  terminal you should see something like this:
 
   .. code-block:: text
 

gh_pages/_source/demo1/Inspect-the-package.rst

@@ -1,11 +1,11 @@
 Inspect the ``pick_and_place_exercise`` Package
 ===============================================
 
-  In this exercise, we will get familiar with all the files that you'll be
-  interacting with throughout these exercises.
+  In this exercise, we will get familiar with all the files that you will be
+  interacting with throughout the next exercises.
 
 
-Acquire and initialize the Workspace
+Acquire and initialize Workspace
 ------------------------------------
 
 .. code-block:: shell
@@ -21,7 +21,7 @@ Acquire and initialize the Workspace
 Download debian dependencies
 ----------------------------
 
-.. note:: Make sure you have installed and configured the `rosdep tool <http://wiki.ros.org/rosdep>`_.
+.. note:: Make sure you installed and configured the `rosdep tool <http://wiki.ros.org/rosdep>`_.
 
 Then, run the following command from the :file:`src` directory of your workspace:
 

gh_pages/_source/demo1/Introduction.rst

@@ -7,7 +7,7 @@ Goal
 
   The purpose of these exercises is to implement a ROS node that drives a
   robot through a series of moves and actions in order to complete a pick and
-  place task.  In addition, they will serve as an example of how to integrate
+  place task.  In addition, they will serve as an example as to how to integrate
   a variety of software capabilities (perception, controller drivers, I/O,
   inverse kinematics, path planning, collision avoidance, etc) into a
   ROS-based industrial application.  

gh_pages/_source/demo1/Move-arm-to-wait-position.rst

@@ -3,7 +3,7 @@ Move Arm to Wait Position
 
   The ``MoveGroup`` class in MoveIt! allows us to move the robot in various
   ways.  With ``MoveGroup`` it is possible to move to a desired joint
-  position, cartesian goal or a predefined pose created with the Setup
+  position, Cartesian goal or a predefined pose created with the Setup
   Assistant.  In this exercise, we will move the robot to a predefined joint
   pose.
 
@@ -70,8 +70,8 @@ Build Code and Run
 
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
-* If the robot is not already in the wait position, it should move to the wait
-  position. In the terminal, you will see something like the following message:
+* If the robot is not already in the wait position, it should move to it. 
+In the terminal, you should see something like this:
 
   .. code-block:: text
 

gh_pages/_source/demo1/Open-gripper.rst

@@ -40,8 +40,8 @@ Complete Code
     grasp_goal.goal = object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE;
     grasp_goal.goal = object_manipulation_msgs::GraspHandPostureExecutionGoal::PRE_GRASP;
 
-* Once the grasp flag has been set you can send the goal through the grasp
-  action client
+* Once the grasp flag has been set, you can send the goal through the grasp
+  action client. 
 
 
 Build Code and Run
@@ -69,8 +69,8 @@ Build Code and Run
 
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
-* If the task succeeds you will see something like the following in the
-  terminal (below). The robot will not move, only gripper I/O is triggered:
+* If the task succeeds you will see something like the below in the
+  terminal. The robot will not move, only gripper I/O is triggered:
 
   .. code-block:: text
 

gh_pages/_source/demo1/Package-Setup.rst

@@ -1,7 +1,7 @@
 Package Setup
 =============
 
-  In this exercise, we'll build our package dependencies and configure the
+  In this exercise, we will build our package dependencies and configure the
   package for the Qt Creator IDE.
 
 

gh_pages/_source/demo1/Pick-up-box.rst

@@ -4,7 +4,7 @@ Pick Up Box
   In this exercise, we will move the robot through the pick motion while
   avoiding obstacles in the environment. This will be accomplished by
   planning for each pose and closing or opening the vacuum gripper when
-  apropriate. Also, we will demonstrate how to create a motion plan that
+  appropriate. Also, we will demonstrate how to create a motion plan that
   MoveIt! can understand and solve.
 
 
@@ -68,8 +68,8 @@ Build Code and Run
     roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
 
 * The robot should go through the pick moves (approach, pick and retreat) in
-  addition to the moves from the previous exercises. In the terminal you will
-  see something like:
+  addition to the moves from the previous exercises. In the terminal you should
+  see something like this:
 
   .. code-block:: text
 

gh_pages/_source/demo1/Place-box.rst

@@ -1,9 +1,10 @@
 Place Box
 =========
 
-  In this exercise, we will move the robot through the place motions while
-  avoiding obstacles with an attached payload. In addition, the gripper must
-  be opened or close at the appropriate time in order to complete the task.
+  In this exercise, we will move the robot through the pick and place motions 
+  while avoiding obstacles with an attached payload. In addition, the gripper 
+  must be opened or closed at the appropriate time in order to complete the 
+  task.
 
 
 Locate Function

gh_pages/_source/demo2/Application-Structure.md

@@ -1,5 +1,5 @@
 # Application Structure
->In this exercise, we'll take a look at all the packages and files that will be used during the completion of these exercises.
+>In this exercise, we will take a look at all the packages and files that will be used during the completion of the next exercices.
 
 ## Acquire and initialize the Workspace
 
@@ -44,10 +44,10 @@ cd ~/descartes_ws/src
 ls -la
 ```
 
- * `plan_and_run` :           Contains the source code for the `plan_and_run` application.  You'll be completing the exercises by editing source files in this package
- * `ur5_demo_moveit_config` : Contains support files for planning and execution robot motions with Moveit.  This package was generated with the Moveit Setup Assistant
- * `ur5_demo_support` :       Provides the robot definition as a URDF file.  This URDF is loaded at run time by our `plan_and_run` application.
- * `ur5_demo_descartes` :     Provides a custom Descartes Robot Model for the UR5 arm.  It uses a Inverse-Kinematics closed form solution; which is significantly faster than the numerical approach used by the **MoveitStateAdapter**.
+ * `plan_and_run` :           Contains the source code for the `plan_and_run` application.  You will be completing the exercises by editing source files in this package. 
+ * `ur5_demo_moveit_config` : Contains support files for planning and execution robot motions with Moveit. This package was generated with the Moveit Setup Assistant. 
+ * `ur5_demo_support` :       Provides the robot definition as a URDF file.  This URDF is loaded at runtime by our `plan_and_run` application.
+ * `ur5_demo_descartes` :     Provides a custom Descartes Robot Model for the UR5 arm.  It uses an Inverse-Kinematics closed form solution, which is significantly faster than the numerical approach used by the **MoveitStateAdapter**.
 
 ## The `plan_and_run` package
 
@@ -59,7 +59,7 @@ ls -la
  * `src` :     Application source files. 
   * `src/demo_application.cpp` : A class source file that contains the application implementation code.
   * `src/plan_and_run.cpp`     : The application main access point. It invokes all the tasks in the application and wraps them inside the "`main`" routine.
-  * `src/tasks`                : A directory that contains all of the source files that you'll be editing or completing as you make progress through the exercises.
+  * `src/tasks`                : A directory that contains every source file that you will be editing or completing as you progress through the exercises.
  * `include` : Header files
   * `include/plan_and_run/demo_application.h` : Defines the application skeleton and provides a number of global variables for passing data at various points in the exercises.
  * `launch`: Launch files needed to run the application
@@ -69,7 +69,7 @@ ls -la
 
 ## Main Application Source File
 
- In the "`plan_and_run/src/plan_and_run_node.cpp`" you'll find the following code:
+ In the "`plan_and_run/src/plan_and_run_node.cpp`" you will find the following code:
 
 ``` c++
 int main(int argc,char** argv)
@@ -112,12 +112,12 @@ int main(int argc,char** argv)
 }
 ```
 
-  In short, this program will run through each exercise by calling the corresponding function from the `application` object.  For instance, in order to initialize Descartes the program calls `application.initDescartes()`.  Thus each exercise consists of editing the source file where that exercise is implemented, so for `application.initDescartes()` you'll be editing the `plan_and_run/src/tasks/init_descartes.src` source file.
+  In short, this program will run through each exercise by calling the corresponding function from the `application` object.  For instance, in order to initialize Descartes the program calls `application.initDescartes()`.  Thus each exercise consists in editing the source file where that exercise is implemented, so for `application.initDescartes()` you will be editing the `plan_and_run/src/tasks/init_descartes.src` source file.
 
 
 ## The DemoApplication Class
 
-  In the header file "`plan_and_run/include/plan_and_run/demo_application.h`" you'll find the definition for the application's main class along with several support constructs. Some of the important components to take notice of are as follows:
+  In the header file "`plan_and_run/include/plan_and_run/demo_application.h`" you will find the definition for the main class of the application along with several support constructs. Some of the important components to take notice of are as follows:
 
   * Program Variables: Contain hard coded values that are used at various points in the application.
 
@@ -141,7 +141,7 @@ typedef std::vector<descartes_core::TrajectoryPtPtr> DescartesTrajectory;
 ```
 
 
- * **DemoConfiguration Data Structure**:  Provides variables whose values are initialize at run-time from corresponding ros parameters.
+ * **DemoConfiguration Data Structure**:  Provides variables which values are initialized at run-time from corresponding ros parameters.
 
 ``` c++
 struct DemoConfiguration
@@ -156,7 +156,7 @@ struct DemoConfiguration
   /* Trajectory Generation Members:
    *  Used to control the attributes (points, shape, size, etc) of the robot trajectory.
    *  */
-  double time_delay;              /* Time step between consecutive points in the robot path */
+  double time_delay;              /* Timestep between consecutive points in the robot path */
   double foci_distance;           /* Controls the size of the curve */
   double radius;                  /* Controls the radius of the sphere on which the curve is projected */
   int num_points;                 /* Number of points per curve */
@@ -245,7 +245,7 @@ protected:
 ```
 
 ## Application Launch File
- This file starts our application as a ROS node and loads up the necessary parameters into the ROS parameter server. Observe how this is done by opening the "`plan_and_run/launch/demo_run.launch`" file:
+ This file starts our application as a ROS node and loads up the necessary parameters into the ROS parameter server. Check how this is done by opening the "`plan_and_run/launch/demo_run.launch`" file:
 
 ``` xml
 <launch>
@@ -266,11 +266,11 @@ protected:
 </launch>
 ```
 
- * Some of the important parameters are explained as follows:
-  * group_name: A namespace that points to the list of links in the robot that are included in the arm's kinematic chain (base to end-of-tooling links).  This list is defined in the `ur5_demo_moveit_config` package.
+ * Some of the important parameters are explained below:
+  * group_name: A namespace that points to the list of links in the robot that are included in the kinematic chain of the arm (base to end-of-tooling links).  This list is defined in the `ur5_demo_moveit_config` package.
   * tip_link: Name of the last link in the kinematic chain, usually the tool link.
   * base_link: Name for the base link of the robot.
   * world_frame: The absolute coordinate frame of reference for all the objects defined in the planning environment.
- * The parameters under the "`trajectory`" namespace are used to generate the trajectory that is fed into the Descartes planner.
-  * trajectory/seed_pose: This is of particular importance because it is used to indicate preferred start and end joint configurations of the robot when planning the path.  If a ''seed_pose'' wasn't specified then planning would take longer since multiple start and end joint configurations would have to be taken into account, leading to multiple path solutions that result from combining several start and end poses. 
+ * The parameters under the "`trajectory`" namespace are used to generate the trajectory that is fed to the Descartes planner.
+  * trajectory/seed_pose: This is of particular importance because it is used to indicate the preferred start and end joint configurations of the robot when planning the path.  If a ''seed_pose'' were not specified then planning would take longer since multiple start and end joint configurations would have to be taken into account, leading to multiple path solutions that result from combining several start and end poses.