Improve wording on disambiguation section (#12)

Author: urfeex

doc/ros2_controller_vs_driver.rst

@@ -15,21 +15,21 @@ ROS 2 on the robot
 
 1. Starting with PolyScope X v10.7.0 the robots have builtin ROS 2 support that allows some amount
    of interaction with the robot without the need of any ROS 2 driver. In particular, the robot
-   publishes a lot of status information and offers services  for example to control the robot's
+   publishes a lot of status information and offers services to control e.g. the robot's
    I/O ports. See the `Topics and Services overview
    <https://docs.universal-robots.com/polyscopex-ros2/v10.7/Appendix/Appendix%202.html>`_ for more
    information.
 
 
 2. Starting with PolyScope X v10.7.0 there is basic URScript support for ROS 2. This allows
-   publishing to and subscribing from ROS 2 topics directly in URScript as well as calling ROS 2
+   publishing and subscribing to ROS 2 topics directly in URScript as well as calling ROS 2
    services and actions from URScript. See `Basic Usage in URScript
    <https://docs.universal-robots.com/polyscopex-ros2/v10.7/Basic%20Usage%20in%20URScript.html>`_
    for details on that.
 
 .. note::
 
-  The builtin ROS 2 support will only be compatible with the ROS distribution running on the
+  The builtin ROS 2 support will only be compatible with the ROS 2 distribution running on the
   robot. For example, PolyScope 10.7.0 is running ROS 2 Humble. It should not be used with
   any other distribution.
 
@@ -44,7 +44,7 @@ Control the robot from an external ROS 2 application
 To control your robot using ROS 2, you can utilize the :ref:`ur_robot_driver`, an Open-Source ROS 2 driver that is maintained by Universal Robots and offers full compatibility with `ros2_control
 <https://control.ros.org>`_. This driver allows you to visualize the robot's state in RViz and control its motions through ROS 2. It supports CB3, e-Series, and PolyScope X robots.
 
-By leveraging the ROS 2 driver, you can build your own application on the ROS framework. This includes integrating drivers for other hardware components, incorporating sensors, and utilizing ready-to-use software functionalities such as collision-aware path planning.
+By leveraging the ROS 2 driver, you can build your own application on the ROS 2 framework. This includes integrating drivers for other hardware components, incorporating sensors, and utilizing ready-to-use software functionalities such as collision-aware path planning.
 
 The ROS 2 driver communicates with the robot using the :ref:`ur_client_library`.
 

index.rst

@@ -36,7 +36,7 @@ application. Some key use cases are:
 
 
 .. note::
-   There is also builtin ROS 2 support for PolyScope X robots, see the `PolyScope X ROS 2 documentation <https://docs.universal-robots.com/polyscopex-ros2/v10.7/index.html>`_ and / or :ref:`ros2_controller_vs_driver` for details.
+   There is also builtin ROS 2 support for PolyScope X robots, see the `PolyScope X ROS 2 documentation <https://docs.universal-robots.com/polyscopex-ros2/v10.7/index.html>`_ for details, or :ref:`ros2_controller_vs_driver` for an explanation of the difference from the ROS 2 driver documented here.
 
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