Some minor rewordings and clarifications

Author: urfeex

ur_robot_driver/doc/installation/robot_setup.rst

@@ -87,8 +87,11 @@ For this, there exists a helper script:
    $ ros2 launch ur_calibration calibration_correction.launch.py \
    robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"
 
+.. note::
+   The robot must be powered on (can be idle) before executing this script.
+
+
 For the parameter ``robot_ip`` insert the IP address on which the ROS pc can reach the robot. As
-``target_filename`` provide an absolute path where the result will be saved to. The robot must be
-powered on (can be idle) before executing this script.
+``target_filename`` provide an absolute path where the result will be saved to.
 
-See :ref:`ur_robot_driver_startup` for instructions on using the extracted calibration information.
+See :ref:`ur_robot_driver_startup` for instructions on using the extracted calibration information.

ur_robot_driver/doc/usage/startup.rst

@@ -78,21 +78,23 @@ Verify calibration info is being used correctly
 
 .. _verify_calibration:
 
-If you passed a path to extracted calibration via the *kinematics_params_file*
+If you passed a path to an extracted calibration via the *kinematics_params_file*
 parameter, ensure that the loaded calibration matches that of the robot by inspecting the console
-output after launching ur_robot_driver. If the calibration does not match, you will see an error:
+output after launching the ``ur_robot_driver``. If the calibration does not match, you will see an error:
 
-.. code-block:: none
+.. code-block::
 
-  [ERROR] [1694437624.484381456] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file.
+  [INFO] [1694437690.406932381] [URPositionHardwareInterface]: Calibration checksum: 'calib_xxxxxxxxxxxxxxxxxxx'
+  [ERROR] [1694437690.516957265] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file.
 
-Alternatively, search for the term *checksum* in the console output after launching the driver, and
-you should see:
+With the correct calibration you should see:
 
-.. code-block:: none
+.. code-block::
 
   [INFO] [1694437690.406932381] [URPositionHardwareInterface]: Calibration checksum: 'calib_xxxxxxxxxxxxxxxxxxx'
+  [INFO] [1694437690.516957265] [URPositionHardwareInterface]: Calibration checked successfully.
 
+Alternatively, search for the term *checksum* in the console output after launching the driver.
 Verify that the printed checksum matches that on the final line of your extracted calibration file.