docs: fix spelling mistakes

ouster-ros/include/ouster_ros/os_point.h

@@ -12,9 +12,9 @@
 
 namespace ouster_ros {
 
-// The default/original represntation of the point cloud since the driver
+// The default/original representation of the point cloud since the driver
 // inception. This shouldn't be confused with Point_LEGACY which provides exact
-// mapping of the fields of Ouster LidarScan of the Legacy Profile, copying the 
+// mapping of the fields of Ouster LidarScan of the Legacy Profile, copying
 // the same order and using the same bit representation. For example, this Point
 // struct uses float data type to represent intensity (aka signal); however, the
 // sensor sends the signal channel either as UINT16 or UINT32 depending on the

ouster-ros/src/os_sensor_node.cpp

@@ -128,7 +128,7 @@ LifecycleNodeInterface::CallbackReturn OusterSensor::on_cleanup(
     } catch (const std::exception& ex) {
         RCLCPP_ERROR_STREAM(
             get_logger(),
-            "exception thrown durng cleanup, details: " << ex.what());
+            "exception thrown during cleanup, details: " << ex.what());
         return LifecycleNodeInterface::CallbackReturn::ERROR;
     }
 
@@ -155,7 +155,7 @@ LifecycleNodeInterface::CallbackReturn OusterSensor::on_shutdown(
     } catch (const std::exception& ex) {
         RCLCPP_ERROR_STREAM(
             get_logger(),
-            "exception thrown durng cleanup, details: " << ex.what());
+            "exception thrown during cleanup, details: " << ex.what());
         return LifecycleNodeInterface::CallbackReturn::ERROR;
     }
 
@@ -407,7 +407,7 @@ std::shared_ptr<sensor::client> OusterSensor::create_sensor_client(
 
     std::shared_ptr<sensor::client> cli;
     if (sensor::in_multicast(udp_dest)) {
-        // use the mtp_init_client to recieve data via multicast
+        // use the mtp_init_client to receive data via multicast
         // if mtp_main is true when sensor will be configured
         cli = sensor::mtp_init_client(hostname, config, mtp_dest, mtp_main);
     } else if (lidar_port != 0 && imu_port != 0) {
@@ -709,7 +709,7 @@ void OusterSensor::handle_lidar_packet(sensor::client& cli,
         if (success) {
             read_lidar_packet_errors = 0;
             if (!is_legacy_lidar_profile(info) && init_id_changed(pf, buffer)) {
-                // TODO: short circut reset if no breaking changes occured?
+                // TODO: short circuit reset if no breaking changes occured?
                 RCLCPP_WARN(get_logger(),
                             "sensor init_id has changed! reactivating..");
                 reactivate_sensor();

ouster-ros/src/point_cloud_compose.h

@@ -41,7 +41,7 @@ struct TypeSelector<ChanFieldType::UINT64> {
 /**
  * @brief constructs a suitable tuple at compile time that can store a reference
  * to all the fields of a specific LidarScan object (without conversion)
- * according to the information specificed by the ChanFieldTable.
+ * according to the information specified by the ChanFieldTable.
  */
 template <std::size_t Index, std::size_t N, const ChanFieldTable<N>& Table>
 constexpr auto make_lidar_scan_tuple() {
@@ -79,7 +79,7 @@ void map_lidar_scan_fields_to_tuple(Tuple& tp, const ouster::LidarScan& ls) {
 /**
  * @brief constructs a suitable tuple at compile time that can store a reference
  * to all the fields of a specific LidarScan object (without conversion)
- * according to the information specificed by the ChanFieldTable and directly
+ * according to the information specified by the ChanFieldTable and directly
  * maps the fields of the supplied LidarScan to the constructed tuple before
  * returning.
  * @param[in] ls LidarScan
@@ -141,7 +141,7 @@ void scan_to_cloud_f_destaggered(ouster_ros::Cloud<PointT>& cloud,
             pt.y = static_cast<decltype(pt.y)>(xyz(1));
             pt.z = static_cast<decltype(pt.z)>(xyz(2));
             // TODO: in the future we could probably skip copying t and ring
-            // values if knowning before hand that the target point cloud does
+            // values if knowing before hand that the target point cloud does
             // not have a field to hold the timestamp or a ring for example the
             // case of pcl::PointXYZ or pcl::PointXYZI.
             pt.t = static_cast<uint32_t>(ts);

ouster-ros/src/point_cloud_processor_factory.h

@@ -84,7 +84,7 @@ class PointCloudProcessorFactory {
     }
 
     template <typename PointT>
-    static LidarScanProcessor make_point_cloud_procssor(
+    static LidarScanProcessor make_point_cloud_processor(
         const sensor::sensor_info& info, const std::string& frame,
         bool apply_lidar_to_sensor_transform,
         PointCloudProcessor_PostProcessingFn post_processing_fn) {
@@ -107,41 +107,41 @@ class PointCloudProcessorFactory {
         if (point_type == "native") {
             switch (info.format.udp_profile_lidar) {
                 case UDPProfileLidar::PROFILE_LIDAR_LEGACY:
-                    return make_point_cloud_procssor<Point_LEGACY>(
+                    return make_point_cloud_processor<Point_LEGACY>(
                         info, frame, apply_lidar_to_sensor_transform,
                         post_processing_fn);
                 case UDPProfileLidar::PROFILE_RNG19_RFL8_SIG16_NIR16_DUAL:
-                    return make_point_cloud_procssor<
+                    return make_point_cloud_processor<
                         Point_RNG19_RFL8_SIG16_NIR16_DUAL>(
                         info, frame, apply_lidar_to_sensor_transform,
                         post_processing_fn);
                 case UDPProfileLidar::PROFILE_RNG19_RFL8_SIG16_NIR16:
-                    return make_point_cloud_procssor<
+                    return make_point_cloud_processor<
                         Point_RNG19_RFL8_SIG16_NIR16>(
                         info, frame, apply_lidar_to_sensor_transform,
                         post_processing_fn);
                 case UDPProfileLidar::PROFILE_RNG15_RFL8_NIR8:
-                    return make_point_cloud_procssor<Point_RNG15_RFL8_NIR8>(
+                    return make_point_cloud_processor<Point_RNG15_RFL8_NIR8>(
                         info, frame, apply_lidar_to_sensor_transform,
                         post_processing_fn);
                 default:
                     // TODO: implement fallback?
                     throw std::runtime_error("unsupported udp_profile_lidar");
             }
         } else if (point_type == "xyz") {
-            return make_point_cloud_procssor<pcl::PointXYZ>(
+            return make_point_cloud_processor<pcl::PointXYZ>(
                 info, frame, apply_lidar_to_sensor_transform,
                 post_processing_fn);
         } else if (point_type == "xyzi") {
-            return make_point_cloud_procssor<pcl::PointXYZI>(
+            return make_point_cloud_processor<pcl::PointXYZI>(
                 info, frame, apply_lidar_to_sensor_transform,
                 post_processing_fn);
         } else if (point_type == "xyzir") {
-            return make_point_cloud_procssor<PointXYZIR>(
+            return make_point_cloud_processor<PointXYZIR>(
                 info, frame, apply_lidar_to_sensor_transform,
                 post_processing_fn);
         } else if (point_type == "original") {
-            return make_point_cloud_procssor<ouster_ros::Point>(
+            return make_point_cloud_processor<ouster_ros::Point>(
                 info, frame, apply_lidar_to_sensor_transform,
                 post_processing_fn);
         }