diff --git a/dev/source/docs/ros2-cartographer-slam.rst b/dev/source/docs/ros2-cartographer-slam.rst
index 56ae20225a..d0b5d8db56 100644
--- a/dev/source/docs/ros2-cartographer-slam.rst
+++ b/dev/source/docs/ros2-cartographer-slam.rst
@@ -4,7 +4,7 @@
 Cartographer SLAM with ROS 2 in SITL
 ====================================
 
-This page shows how to setup ROS 2 with Ardupilot SITL and run Google Cartographer as a SLAM source. 
+This page shows how to setup ROS 2 with ArduPilot SITL and run Google Cartographer as a SLAM source. 
 
 Installation
 ============
@@ -53,7 +53,7 @@ In another terminal, run:
 Configure ArduPilot
 ===================
 
-If you'd like to get the information from Cartographer to go into Ardupilot's extended kalman filter, you will need to change some parameters, you can do that through any GCS, including mavproxy:
+If you'd like to get the information from Cartographer to go into ArduPilot's extended kalman filter, you will need to change some parameters, you can do that through any GCS, including mavproxy:
 
 -  :ref:`AHRS_EKF_TYPE <copter:AHRS_EKF_TYPE>` = 3 to use EKF3
 -  :ref:`EK2_ENABLE <copter:EK2_ENABLE>` = 0 to disable EKF2
diff --git a/dev/source/docs/ros2-gazebo.rst b/dev/source/docs/ros2-gazebo.rst
index c5f5c91aa3..e4f6e96507 100644
--- a/dev/source/docs/ros2-gazebo.rst
+++ b/dev/source/docs/ros2-gazebo.rst
@@ -4,19 +4,19 @@
 ROS 2 with Gazebo
 =================
 
-Once ROS2 is correctly :ref:`installed <ros2>` and running :ref:`sitl <ros2-sitl>`, we can integrate Ardupilot with Gazebo. 
+Once ROS2 is correctly :ref:`installed <ros2>` and running :ref:`SITL <ros2-sitl>`, we can integrate ArduPilot with Gazebo. 
 
-First, `install Gazebo Garden <https://gazebosim.org/docs/garden/install>`.
+First, `install Gazebo Garden <https://gazebosim.org/docs/garden/install>`__.
 
 Next, set up all the necessary ROS 2 packages in the workspace.
 
-We will clone the required repositories using `vcstool <https://github.com/dirk-thomas/vcstool>` and a `ros2.repos` files:
+We will clone the required repositories using `vcstool <https://github.com/dirk-thomas/vcstool>`__ and a `ros2.repos` files:
 
 .. code-block:: bash
 
-    cd ~/ros2_ws/src
+    cd ~/ros2_ws
     wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
-    vcs import --recursive < ros2_gz.repos
+    vcs import --recursive src < ros2_gz.repos
 
 Set the gazebo version
 
@@ -74,7 +74,7 @@ Examples available
 
     ros2 launch ardupilot_gz_bringup iris_maze.launch.py
 
-Here is a demo video of Ardupilot working with ROS 2 and Gazebo:
+Here is a demo video of ArduPilot working with ROS 2 and Gazebo:
 
 ..  youtube:: HZKXrSAE-ac
     :width: 100%
diff --git a/dev/source/docs/ros2-sitl.rst b/dev/source/docs/ros2-sitl.rst
index 777e85b7c1..8387fcb43d 100644
--- a/dev/source/docs/ros2-sitl.rst
+++ b/dev/source/docs/ros2-sitl.rst
@@ -4,7 +4,7 @@
 ROS 2 with SITL
 ===============
 
-Once ROS2 is correctly :ref:`installed <ros2>`, and SITL is also :ref:`installed <sitl-simulator-software-in-the-loop>`, source your workspace and launch Ardupilot SITL with ROS 2!
+Once ROS2 is correctly :ref:`installed <ros2>`, and SITL is also :ref:`installed <sitl-simulator-software-in-the-loop>`, source your workspace and launch ArduPilot SITL with ROS 2!
 
 .. code-block:: bash
 
diff --git a/dev/source/docs/ros2.rst b/dev/source/docs/ros2.rst
index 31da5c2292..1c6c636cac 100644
--- a/dev/source/docs/ros2.rst
+++ b/dev/source/docs/ros2.rst
@@ -9,7 +9,7 @@ ROS 2
 
 ArduPilot capabilities can be extended with `ROS <http://www.ros.org/>`__ (aka Robot Operating System).
 
-`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been superseded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and Ardupilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__.
+`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been superseded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and ArduPilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__.
 
 
 Prerequisites