diff --git a/communication.md b/communication.md
index 5321a6cb99d44fe8dd88ada5be8fd61d0438ee15..248be4a4ebbe1fc18d579b182a6f3f5a59f536f6 100644
--- a/communication.md
+++ b/communication.md
@@ -57,9 +57,9 @@ When using an MQTT broker to communicate between ROS2 agents (and also
 between ROS1 and ROS2 agents) there are two programs running on the
 ROS2 agent:
 
-- **mqtt_to_ros**: This programs connect to the broker and push ut the ROS
-  messages it receives from the MQTT topics.
-- ros_to_mqtt: This program listen to ROS2 messages and push them on
+- **mqtt_to_ros**: This programs connect to the broker and decode the JSON encoded ROS
+  messages it receives from the MQTT topics and push them out on ROS topics.
+- **ros_to_mqtt**: This program listen to ROS2 messages and push them on
   the relevant MQTT topic as JSON strings. Note that ROS2 messages
   from mqtt_to_ros is filtered away (THIS MIGHT NOT BE POSSIBLE!!!).  Also this program can be
   configured to reduce the number of messages it sends by having a
@@ -75,7 +75,7 @@ The MQTT topic is built up in the following way:
 - channel
 - ext
 - ROS topic
-- receiver
+- receiver : ALL or namespace for unit/agent
 
 For example: