fix prio

configuration/packages/collision_monitor/configuring-collision-monitor-node.rst

@@ -193,7 +193,7 @@ Parameters
   ============== =======
 
   Description
-    Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
+    Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
 
 :enable_stamped_cmd_vel:
 

configuration/packages/configuring-controller-server.rst

@@ -34,7 +34,7 @@ Parameters
   ============== =======
 
   Description
-    Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
+    Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
 
 :action_server_result_timeout:
 

configuration/packages/configuring-velocity-smoother.rst

@@ -25,7 +25,7 @@ Velocity Smoother Parameters
   ============== =======
 
   Description
-    Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
+    Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
 
 :smoothing_frequency:
 

migration/Iron.rst

@@ -49,7 +49,7 @@ Now we can define a polygon's points in string that has a ``vector<vector<double
 Introduction of Soft-Real Time Action Servers
 *********************************************
 
-`PR #3914 <https://github.com/ros-planning/navigation2/pull/3914>`_ adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary.
+`PR #3914 <https://github.com/ros-planning/navigation2/pull/3914>`_ adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary.
 
 .. code-block:: text