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Fix typos in underwater vehicles tutorial #2114

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Sep 1, 2023
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Fix typos in underwater vehicles tutorial #2114

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8 changes: 4 additions & 4 deletions tutorials/underwater_vehicles.md
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Original file line number Diff line number Diff line change
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\page underwater_vehicles Underwater vehicles

## Simulating Autnomous Underwater Vehicles
## Simulating Autonomous Underwater Vehicles

Gazebo now supports basic simulation of underwater vehicles.
This capability is based on the equations described in Fossen's ["Guidance and
Expand Down Expand Up @@ -108,8 +108,8 @@ name="gz::sim::systems::Hydrodynamics">
Just like aeroplanes, an underwater vehicle may also use fins for stability and
control. Fortunately, Gazebo already has a version of the LiftDrag plugin. In
this tutorial, we will simply add two liftdrag plugins to the rudder and
elevator of MBARI's Tethys. For more info about the liftdrag plugin inluding
what the parameters mean you may look
elevator of MBARI's Tethys. For more info about the liftdrag plugin including
what the parameters mean, you may look
at [this gazebo classic tutorial](http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics).
Essentially when we tilt the fins, we should experience a lift force which
will cause the vehicle to experience a torque and the vehicle should start
Expand Down Expand Up @@ -152,7 +152,7 @@ name="gz::sim::systems::LiftDrag">
<cp>0 0 0</cp>
</plugin>
```
The number in this case were kindly provided by MBARI for the Tethys.
The numbers in this case were kindly provided by MBARI for the Tethys.
We also need to be able to control the position of the thruster fins so we will
use the joint controller plugin.
```xml
Expand Down