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_sources/concepts/index.rst.txt

@@ -218,7 +218,7 @@ In the second, the ``nav2_waypoint_follower`` is a nice sample application / pro
 Neither is better than the other, it highly depends on the tasks your robot(s) are completing, in what type of environment, and with what cloud resources available. Often this distinction is very clear for a given business case.
 
 ``nav2_waypoint_follower`` also supports GPS waypoint following when global localization is provided by `robot_localization <https://github.com/cra-ros-pkg/robot_localization/>`_  using the ``navsat_transform`` node - but also may be provided by Fuse or any number of other sources.
-There is an action server named ``/follow_gps_waypoints`` within ``nav2_waypoint_follower`` thah can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.
+There is an action server named ``/follow_gps_waypoints`` within ``nav2_waypoint_follower`` that can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.
 
 State Estimation
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concepts/index.html

@@ -1161,7 +1161,7 @@ <h3>Waypoint Following<a class="headerlink" href="#waypoint-following" title="Pe
 <p>In the second, the <code class="docutils literal notranslate"><span class="pre">nav2_waypoint_follower</span></code> is a nice sample application / proof of concept, but you really need your waypoint following / autonomy system on the robot to carry more weight in making a robust solution. In this case, you should use the <code class="docutils literal notranslate"><span class="pre">nav2_behavior_tree</span></code> package to create a custom application-level behavior tree using navigation to complete the task. This can include subtrees like checking for the charge status mid-task for returning to dock or handling more than 1 unit of work in a more complex task. Soon, there will be a <code class="docutils literal notranslate"><span class="pre">nav2_bt_waypoint_follower</span></code> (name subject to adjustment) that will allow you to create this application more easily. In this school of thought, the waypoint following application is more closely tied to the system autonomy, or in many cases, is the system autonomy.</p>
 <p>Neither is better than the other, it highly depends on the tasks your robot(s) are completing, in what type of environment, and with what cloud resources available. Often this distinction is very clear for a given business case.</p>
 <p><code class="docutils literal notranslate"><span class="pre">nav2_waypoint_follower</span></code> also supports GPS waypoint following when global localization is provided by <a class="reference external" href="https://github.com/cra-ros-pkg/robot_localization/">robot_localization</a>  using the <code class="docutils literal notranslate"><span class="pre">navsat_transform</span></code> node - but also may be provided by Fuse or any number of other sources.
-There is an action server named <code class="docutils literal notranslate"><span class="pre">/follow_gps_waypoints</span></code> within <code class="docutils literal notranslate"><span class="pre">nav2_waypoint_follower</span></code> thah can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.</p>
+There is an action server named <code class="docutils literal notranslate"><span class="pre">/follow_gps_waypoints</span></code> within <code class="docutils literal notranslate"><span class="pre">nav2_waypoint_follower</span></code> that can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.</p>
 </div>
 </div>
 <div class="section" id="state-estimation">