fix: typo

Signed-off-by: Shunsuke Miura <[email protected]>
autowarefoundation · Dec 7, 2023 · faacc3b · faacc3b
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diff --git a/docs/design/autoware-architecture/perception/index.md b/docs/design/autoware-architecture/perception/index.md
@@ -49,7 +49,7 @@ The Perception Component consists of the following sub-components:
   - Animals
   - Traffic Cones
   - Fallen Objects, Flying Objects, etc: Items such as cardboard, drums, wood, etc., either falling or airborne.
-- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that equires the ego vehicle either steer clear of them or come to a stop in front of the obstacles.
+- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles.
   - This includes:
     - all dynamic objects (as listed above)
     - curbs/bollards

diff --git a/docs/design/autoware-interfaces/components/perception.md b/docs/design/autoware-interfaces/components/perception.md
@@ -47,6 +47,6 @@ Please refer to [the perception component design](../../autoware-architecture/pe
 | Name               | Topic                                                   | Type                                                                                                                                                                     | Description                                                                                                                                                          |
 | ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | Dynamic Objects    | `/perception/object_recognition/objects`                | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | Set of dynamic objects with information such as a object class and a shape of the objects. Dynamic objects refer to those that were not present during map creation. |
-| Obstacles          | `/perception/obstacle_segmentation/pointcloud`          | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg)                                                         | Obstacles, including both dynamic objects and static obstacles that equires the ego vehicle either steer clear of them or come to a stop in front of the obstacles.  |
-| Occupancy Grid Map | `/perception/occupancy_grid_map/map`                    | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html)                                                                    | The map with the imformation about the presence of obstacles and blind spot                                                                                          |
+| Obstacles          | `/perception/obstacle_segmentation/pointcloud`          | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg)                                                         | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
+| Occupancy Grid Map | `/perception/occupancy_grid_map/map`                    | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html)                                                                    | The map with the information about the presence of obstacles and blind spot                                                                                          |
 | Traffic Signal     | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg)   | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight)                                                            |