diff --git a/docs/50-features/55-octomap/index.md b/docs/50-features/55-octomap/index.md
index b9cf4205..e8144213 100644
--- a/docs/50-features/55-octomap/index.md
+++ b/docs/50-features/55-octomap/index.md
@@ -29,9 +29,9 @@ import DocCardList from '@theme/DocCardList';
 * [mrs_octomap_tools](https://github.com/ctu-mrs/mrs_octomap_tools) - MRS Tools and libraries for Octomap
 * [mrs_subt_planning_lib](https://github.com/ctu-mrs/mrs_subt_planning_lib) - 3D A*-based planner utilized by mrs_octomap_planner
 
-## Example session
+## Example simulation session
 
-Example tmuxinator session is provided in the `tmux` subfolder.
+Example tmuxinator session is provided in the [tmux subfolder](https://github.com/ctu-mrs/mrs_octomap_mapping_planning/tree/master/ros_packages/mrs_octomap_mapping_planning/tmux/simulation_example).
 
 ## Main launch file
 
@@ -47,10 +47,10 @@ was prepared to utilize 3D LiDAR and depth camera data and to launch
 * Octomap RVIZ Visualizer,
 * Nodelet manager.
 
-To use the launch file, you might need to:
+To use the launch file for your specific usecase, you might need to:
 - Specify reference frame of the map in the **world_frame_id** argument.
-- Provide custom configs customizing the behavior of the PCL filters, octomap server, octomap planner, and octomap visualizer.
-- Remap ROS topics expected by the launch file to correspond to your sensor configuration.
+- Provide **custom configs** customizing the behavior of the PCL filters, octomap server, octomap planner, and octomap visualizer.
+- Remap ROS **topics** expected by the launch file to correspond to your sensor configuration.
 
 Example usage of the launch file with custom configs provided:
 ```
diff --git a/docs/50-features/55-octomap/octomap_server.md b/docs/50-features/55-octomap/octomap_server.md
index 6bfa7709..969d4199 100644
--- a/docs/50-features/55-octomap/octomap_server.md
+++ b/docs/50-features/55-octomap/octomap_server.md
@@ -8,7 +8,7 @@ description: Octomap Server
 
 <Button label="🔗 mrs_octomap_server repository" link="https://github.com/ctu-mrs/mrs_octomap_server" block /><br />
 
-3D occupancy mapping based on [Octomap](https://octomap.github.io/). The sensor data are inserted into a local map centered at the current position of the robot. The local maps are periodically copied into a global map. The map can incorporate poinclouds from 3D LiDARs and depth cameras.
+3D occupancy mapping based on [Octomap](https://octomap.github.io/). The sensor data are inserted into a local map centered at the current position of the robot. The local maps are periodically copied into a global map. The map can incorporate pointclouds from 3D LiDARs and depth cameras.
 
 ## Usage
 See [octomap_mapping_planning launch file](https://github.com/ctu-mrs/mrs_octomap_mapping_planning/blob/master/ros_packages/mrs_octomap_mapping_planning/launch/mapplan.launch) for setting of relevant topics, passing a custom config to the octomap server and setting its parameters.
@@ -17,7 +17,7 @@ See [octomap_mapping_planning launch file](https://github.com/ctu-mrs/mrs_octoma
 Topic names are set as arguments to the [launch file](https://github.com/ctu-mrs/mrs_octomap_server/blob/master/launch/octomap.launch).
 | Topic name                                 | Type                    | Meaning                                                                          |
 |--------------------------------------------|-------------------------|----------------------------------------------------------------------------------|
-| lidar_3d_topic_*NUM*_in                    | sensor_msgs/PointCloud2 | 3D LiDAR poincloud                                                               |
+| lidar_3d_topic_*NUM*_in                    | sensor_msgs/PointCloud2 | 3D LiDAR pointcloud                                                              |
 | lidar_3d_topic_*NUM*_over_max_range_in     | sensor_msgs/PointCloud2 | points over max range (will be used for free-space raycasting only               |
 | depth_camera_topic_*NUM*_in                | sensor_msgs/PointCloud2 | depth camera pointcloud                                                          |
 | depth_camera_topic_*NUM*_over_max_range_in | sensor_msgs/PointCloud2 | depth camera points over max range (will be used for free-space raycasting only  |