Fixes.

README.md

@@ -343,13 +343,13 @@ How expansion works:
 
 - There is a tst_expansion node that have a service TSTExpandTree ("tst_expand_tree"). The tree is in JSON format.
 - All running executor factories have a service call that can do expansion if needed.
-- When we get a service call to expand a tree the followin happens:
-  1. For each terminal node that is expandable push a TSTExpandCommand message on topic /tst_expand_command.
+- When we get a service call to expand a tree the following happens:
+  1. For each terminal node that is expandable publish a TSTExpandCommand message on topic /tst_expand_command.
   1. /tst_expand_command messages are distributed to all agents (using ROS2 topic or JSON-forwarding).
   1. The tst_expansion node receives the TSTExpandCommand messages and if the expansion should be.
      done on the agent then we do a service call to the correct ExecutorFactory that do the actual
      expansion.
-  1. The result of the service call is pushed on the topic /tst_expand_response as a TSTExpandResponse message.
+  1. The result of the service call is published on the topic /tst_expand_response as a TSTExpandResponse message.
   1. /tst_expand_command messages are distributed to all agents (using ROS2 topic or JSON-forwarding)       
   1. We wait for /tst_expand_response messages for all outstanding requests and link in possible expansion
           in the tree.

communication.md

@@ -12,7 +12,7 @@ following way to communicate between agents:
 
 - Use ROS2. We need to make sure the DDS layer is configured correctly
 in this case. All agents will have the same value for ROS_DOMAIN_ID.
-- Use json coding of messages and send the encoded message between agents using an MQTT
+- Use JSON coding of messages and send the encoded message between agents using an MQTT
   broker. All agents will have different value for ROS_DOMAIN_ID.
 
 
@@ -92,6 +92,7 @@ that messages that needs to be forwarded will be put on a topic with
 the prefix /ext.  So if this is given to the start of wdb then we will push to:
 - /ext/unit_info
 - /ext/unit_info_slow
+
 The **ros_to_mqtt** program will put this on MQTT topics and the **mqt_to_ros** program will outpuy the messages on the topics /unit_info and /unit_info_slow.
 
 For now see m300.launch.py were the external flag is set for the nodes: