Fixed typos and mae minor format edits to file.

teleoperating_stretch.md

@@ -30,18 +30,19 @@ If you're done, hold down the Shutdown PC button for 2 seconds. This will cause
 
 ### Keyboard Teleoperating
 
-To teleoperate a Stretch's **mobile base** with the keyboard, you first need to set the ros parameter to *navigation* mode in order for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands
+To teleoperate a Stretch's mobile base with the keyboard, you first need to set the ros parameter to *navigation* mode for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands
 
-```bash
+```
 rosparam set /stretch_driver/mode "navigation"
 roslaunch stretch_core stretch_driver.launch
 ```
 The first line will set the stretch driver mode to *navigation* before running the `stretch_driver.launch` file.
 
 Then in a new terminal launch the teleop_twist_keyboard node with the argument remapping the *cmd_vel* topic name to *stretch/cmd_vel*.
-```bash
+```
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=stretch/cmd_vel
 ```
+
 Below are the keyboard commands that allow a user to move Stretch.  
 ```
 Reading from the keyboard  and Publishing to Twist!
@@ -89,7 +90,7 @@ roslaunch stretch_gazebo gazebo.launch
 
 In a new terminal, type the following
 
-```bash
+```
 roslaunch stretch_gazebo teleop_keyboard.launch
 ```
 The same keyboard commands will be presented to a user to move the robot.
@@ -97,7 +98,7 @@ The same keyboard commands will be presented to a user to move the robot.
 ### Xbox Controller Teleoperating
 An alternative for robot base teleoperation is to use an Xbox controller. Stop the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine and run the following command.
 
-```bash
+```
 roslaunch stretch_gazebo teleop_joy.launch
 ```
 Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless pressed. For a Logitech F310 joystick, this button is A.