diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index d51c71cb..ff08426a 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -16,23 +16,38 @@ Please try to include as much information as you can. Details like these are inc
 * Any modifications you've made relevant to the bug
 * Anything unusual about your environment or deployment
 
+## Installation of pre-commit checks and hooks
+To accelerate the rate of development and to ensure that the code is formatted correctly, we use pre-commit checks and hooks. To install these, please follow the instructions below:
+  1. Install packages used to check the code:
+```bash
+$ sudo apt-get -y install clang-format-10 python3-autopep8 ament-cmake-uncrustify python3-ament-cpplint python3-ament-lint-cmake python3-ament-copyright
+$ pip install doc8
+```
+  2. Install pre-commit: `pip install pre-commit`
+  3. Configure hook such that it runs on every commit: `pre-commit install`
+
+You can run pre-commit manually on the repository to check if the code is formatted correctly.
+To do so, run `pre-commit run --all-files` in the root of the repository.
 
 ## Contributing via Pull Requests
 Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
 
 1. You are working against the latest source on the *main* branch.
 2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
-3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+3. You have used pre-commit checks to correct any formatting issues.
+4. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+**NOTE:** For contributing to the documentation, contribute to the sphinx pages placed in the ethercat_driver_ros2/sphinx folder.
 
 To send us a pull request, please:
 
 1. Fork the repository.
 2. Modify the source; please focus on the specific change you are contributing.
   If you also reformat all the code, it will be hard for us to focus on your change.
-3. Ensure local tests pass.
-4. Commit to your fork using clear commit messages.
-5. Send a pull request, answering any default questions in the pull request interface.
-6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+1. Ensure local tests pass.
+2. Commit to your fork using clear commit messages.
+3. Send a pull request, answering any default questions in the pull request interface.
+4. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
 
 GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and [creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
 
diff --git a/ethercat_driver_ros2/sphinx/quickstart/installation.rst b/ethercat_driver_ros2/sphinx/quickstart/installation.rst
index 3a3b38f3..36676f14 100644
--- a/ethercat_driver_ros2/sphinx/quickstart/installation.rst
+++ b/ethercat_driver_ros2/sphinx/quickstart/installation.rst
@@ -8,6 +8,34 @@ Installing EtherLab
 The proposed development builds upon the `IgH EtherCAT Master <https://etherlab.org/en/ethercat/>`_.
 Installation steps are summarized here:
 
+* Verify that you can run unsigned kernel modules
+
+Etherlab is a kernel module that is not signed by default.
+To allow the kernel to load unsigned modules, you need to disable secure boot.
+
+Verify if secure boot is enabled (you need to install ''mokutil'' first):
+  .. code-block:: console
+
+    $ sudo apt-get install mokutil
+    $ mokutil --sb-state
+
+it should print:
+  .. code-block:: console
+
+    SecureBoot disabled
+
+if it prints:
+  .. code-block:: console
+
+    SecureBoot enabled
+
+Then you need to disable secure boot.
+To do so:
+
+  1. reboot your computer and enter the BIOS settings.
+  2. In the security tab, disable secure boot.
+  3. Save and exit.
+
 * Install required tools:
 
   .. code-block:: console
diff --git a/ethercat_driver_ros2/sphinx/user_guide/config_generic_slave.rst b/ethercat_driver_ros2/sphinx/user_guide/config_generic_slave.rst
index c426c513..3b4ea3ff 100644
--- a/ethercat_driver_ros2/sphinx/user_guide/config_generic_slave.rst
+++ b/ethercat_driver_ros2/sphinx/user_guide/config_generic_slave.rst
@@ -72,11 +72,11 @@ Each PDO Channel has the following configuration flags:
   * - :code:`type`
     - Channel data type. Possible types: :code:`bool`, :code:`uint8`, :code:`int8`, :code:`uint16`, :code:`int16`, :code:`uint32`, :code:`uint32`, :code:`uint64`, :code:`uint64`, :code:`bitN` with N the number of bits required.
   * - :code:`command_interface`
-    - **Only for** :code:`tpdo`. Name of the command interface to be used inside :code:`ros2_control`.
+    - **Only for** :code:`rpdo`. Name of the command interface to be used inside :code:`ros2_control`.
   * - :code:`state_interface`
-    - **Only for** :code:`rpdo`. Name of the state interface to be used inside :code:`ros2_control`.
+    - **Only for** :code:`tpdo`. Name of the state interface to be used inside :code:`ros2_control`.
   * - :code:`default`
-    - **Only for** :code:`tpdo`. Default value to be send to the drive if data received on the command interface is :code:`NaN`.
+    - **Only for** :code:`rpdo`. Default value to be send to the drive if data received on the command interface is :code:`NaN`.
   * - :code:`mask`
     - Data mask, to be used with :code:`type` = :code:`bool`.
   * - :code:`factor`