Fixed typos.

example_5.md

@@ -10,7 +10,6 @@ Begin by starting up the stretch driver launch file.
 # Terminal 1
 roslaunch stretch_core stretch_driver.launch
 ```
-
 You can then hit the run-stop button (you should hear a beep and the LED light in the button blink) and move the robot's joints to a desired configuration. Once you are satisfied with the configuration, hold the run-stop button until you hear a beep. Then run the following command to print the joint positions of the lift, arm, and wrist.
 
 ```bash
@@ -23,7 +22,6 @@ name: ['joint_lift', 'wrist_extension', 'joint_wrist_yaw']
 position: [0.6043133175850597, 0.19873586673129257, 0.017257283863713464]
 
 ```
-
 **IMPORTANT NOTE:** Stretch's arm has 4 prismatic joints and the sum of these positions gives the *wrist_extension* distance. The *wrist_extension* is needed when sending [joint trajectory commands](follow_joint_trajectory.md) to the robot. Further, you **can not** actuate an individual arm joint. Here is an image of the arm joints for reference:
 
 <p align="center">
@@ -44,7 +42,7 @@ class JointStatePublisher():
 	"""
 	def __init__(self):
 		"""
-		Function that initializes the subsriber.
+		Function that initializes the subscriber.
 		:param self: The self reference.
 		"""
 		self.sub = rospy.Subscriber('joint_states', JointState, self.callback)
@@ -61,7 +59,7 @@ class JointStatePublisher():
 		"""
 		print_states function to deal with the incoming JointState messages.
 		:param self: The self reference.
-		:param joints: A list of joint names.
+		:param joints: A list of string values of joint names.
 		"""
 		joint_positions = []
     for joint in joints:
@@ -95,13 +93,12 @@ Now let's break the code down.
 ```
 Every Python ROS [Node](http://wiki.ros.org/Nodes) will have this declaration at the top. The first line makes sure your script is executed as a Python script.
 
-
 ```python
 import rospy
 import sys
 from sensor_msgs.msg import JointState
 ```
-You need to import rospy if you are writing a ROS Node. Import `sensor_msgs.msg` so that we can subscribe to `JointState` messages.
+You need to import `rospy` if you are writing a ROS [Node](http://wiki.ros.org/Nodes). Import `sensor_msgs.msg` so that we can subscribe to `JointState` messages.
 
 ```python
 self.sub = rospy.Subscriber('joint_states', JointState, self.callback)
@@ -112,12 +109,11 @@ Set up a subscriber.  We're going to subscribe to the topic "*joint_states*", lo
 def callback(self, msg):
 	self.joint_states = msg
 ```
-This is the callback function where he JointState messages are stored as *self.joint_states*. Further information about the this message type can be found here: [JointState Message](http://docs.ros.org/en/lunar/api/sensor_msgs/html/msg/JointState.html)
+This is the callback function where he `JointState` messages are stored as *self.joint_states*. Further information about the this message type can be found here: [JointState Message](http://docs.ros.org/en/lunar/api/sensor_msgs/html/msg/JointState.html)
 
 ```python
 def print_states(self, joints):
 	joint_positions = []
-
 ```
 This is the `print_states()` function which takes in a list of joints of interest as its argument. the is also an empty list set as *joint_positions* and this is where the positions of the requested joints will be appended.
 
@@ -136,7 +132,6 @@ In this section of the code, a for loop is used to parse the names of the reques
 rospy.signal_shutdown("done")
 sys.exit(0)
 ```
-
 The first line of code initiates a clean shutdown of ROS. The second line of code exits the Python interpreter.
 
 ```python
@@ -144,18 +139,18 @@ rospy.init_node('joint_state_printer', anonymous=True)
 JSP = JointStatePublisher()
 rospy.sleep(.1)
 ```
-The next line, `rospy.init_node(NAME, ...)`, is very important as it tells rospy the name of your node -- until rospy has this information, it cannot start communicating with the ROS Master. In this case, your node will take on the name talker. NOTE: the name must be a base name, i.e. it cannot contain any slashes "/".
+The next line, `rospy.init_node(NAME, ...)`, is very important as it tells rospy the name of your node -- until rospy has this information, it cannot start communicating with the ROS Master. **NOTE:** the name must be a base name, i.e. it cannot contain any slashes "/".
 
 Declare object, *JSP*, from the `JointStatePublisher` class.
 
-The use of the `rospy.sleep()` function is to allow the *JSP* class to initialize all of its features before requesting to publish joint positions of desired joints (running the `print_states()` function).
+The use of the `rospy.sleep()` function is to allow the *JSP* class to initialize all of its features before requesting to publish joint positions of desired joints (running the `print_states()` method).
 
 ```python
 joints = ["joint_lift", "wrist_extension", "joint_wrist_yaw"]
 #joints = ["joint_head_pan","joint_head_tilt", joint_gripper_finger_left", "joint_gripper_finger_right"]
 JSP.print_states(joints)
 ```
-Create a list of the desired joints that you want positions to be printed. Then use that list as an argument for the `print_states()` function.
+Create a list of the desired joints that you want positions to be printed. Then use that list as an argument for the `print_states()` method.
 
 ```python
 rospy.spin()

src/joint_state_printer.py

@@ -15,7 +15,7 @@ class JointStatePublisher():
 
 	def __init__(self):
 		"""
-		Function that initializes the subsriber.
+		Function that initializes the subscriber.
 		:param self: The self reference
 		"""
 		# Set up a subscriber. We're going to subscribe to the topic "joint_states"
@@ -36,7 +36,7 @@ class JointStatePublisher():
 		"""
 		print_states function to deal with the incoming JointState messages.
 		:param self: The self reference.
-		:param joints: A list of joint names.
+		:param joints: A list of string values of joint names.
 		"""
 		# Create an empty list that will store the positions of the requested joints
 		joint_positions = []