diff --git a/rmw/include/rmw/qos_profiles.h b/rmw/include/rmw/qos_profiles.h
index b0343507..8bcad7bf 100644
--- a/rmw/include/rmw/qos_profiles.h
+++ b/rmw/include/rmw/qos_profiles.h
@@ -192,7 +192,7 @@ typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_e
  * \param[in] reason_size: Size of the string buffer `reason`, if one is provided.
  *   If `reason` is `nullptr`, then this parameter must be zero.
  * \return `RMW_RET_OK` if the check was successful, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `compatiblity` is `nullptr`, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if `compatibility` is `nullptr`, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `reason` is `NULL` and  `reason_size` is not zero, or
  * \return `RMW_RET_ERROR` if there is an unexpected error.
  */
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 164f47dc..373bf1a6 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -428,7 +428,7 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher);
  * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if `publisher` implementation identifier
  *   does not match this implementation, or
  * \return `RMW_RET_UNSUPPORTED` if the implementation does not support ROS message loaning, or
- * \return `RMW_RET_ERROR` if an unexpected error occured.
+ * \return `RMW_RET_ERROR` if an unexpected error occurred.
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/src/discovery_options.c b/rmw/src/discovery_options.c
index 882c5da7..f4f92b82 100644
--- a/rmw/src/discovery_options.c
+++ b/rmw/src/discovery_options.c
@@ -43,7 +43,7 @@ rmw_discovery_options_init(
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
 
   if (0 != discovery_options->static_peers_count || NULL != discovery_options->static_peers) {
-    RMW_SET_ERROR_MSG("discovery_options must be zero intialized");
+    RMW_SET_ERROR_MSG("discovery_options must be zero initialized");
     return RMW_RET_INVALID_ARGUMENT;
   }