diff --git a/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py b/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py
index ba33ca850..1f6ff6793 100755
--- a/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py
+++ b/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py
@@ -1070,7 +1070,7 @@ def reevaluate_plan(self) -> None:
     def action_check(self, _: rospy.timer.TimerEvent) -> None:
         """
         Manages action preempting. Serves as the callback to a Timer operating
-          opereating every self.revisit_period seconds.
+          operating every self.revisit_period seconds.
         """
         if self.preempted or not self.move_server.is_active():
             return
diff --git a/NaviGator/mission_control/navigator_missions/launch/mission_params.yaml b/NaviGator/mission_control/navigator_missions/launch/mission_params.yaml
index 7b44edc7e..c4ee5940c 100644
--- a/NaviGator/mission_control/navigator_missions/launch/mission_params.yaml
+++ b/NaviGator/mission_control/navigator_missions/launch/mission_params.yaml
@@ -157,14 +157,14 @@ dock_shape_1:
   param: /mission/identify_dock/shape_1
   options: [CIRCLE, TRIANGLE, CROSS, ANY]
   description: >
-    The shape of the first bay to dock in during the dentify
+    The shape of the first bay to dock in during the identify
     Symbols and Dock mission. If set to ANY, mission should dock based on the
     color parameter and set this parameter during the mission
 dock_color_1:
   param: /mission/identify_dock/color_1
   options: [RED, GREEN, BLUE, ANY]
   description: >
-    The color of the first bay to dock in during the dentify Symbols and Dock
+    The color of the first bay to dock in during the identify Symbols and Dock
     mission. If set to ANY, mission should dock based on the shape parameter
     and set this parameter during the mission
 
@@ -174,7 +174,7 @@ dock_shape_2:
   description: >
     # yamllint disable-line rule:line-length
     The shape of the second bay to dock in during the
-    dentify Symbols and Dock mission. If set to ANY,
+    identify Symbols and Dock mission. If set to ANY,
     mission should dock based on the color parameter and set this
     parameter during the mission
 dock_color_2:
@@ -183,6 +183,6 @@ dock_color_2:
   description: >
     # yamllint disable-line rule:line-length
     The color of the second bay to dock in during the
-    dentify Symbols and Dock mission.
+    identify Symbols and Dock mission.
     If set to ANY, mission should dock based on the shape
     parameter and set this parameter during the mission
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py b/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py
index 5ae078c90..a0ce42a26 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py
@@ -66,7 +66,7 @@ def decode_parameters(cls, parameters):
         return parsed
 
     async def run(self, args):
-        # Publish a velocity of zero for a while to stabalize navigator
+        # Publish a velocity of zero for a while to stabilize navigator
         self.send_feedback("Switching trajectory to constant")
         await self.change_trajectory("constant")
         await self.nh.sleep(0.1)
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py
index 6c53d35a4..599a388cc 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py
@@ -68,7 +68,7 @@ async def run(self, parameters):
             _, closest_reds = await self.get_sorted_objects("red_cylinder", 1)
             _, closest_greens = await self.get_sorted_objects("green_cylinder", 1)
 
-            # Rename the totems for their symantic name
+            # Rename the totems for their semantic name
             green_close = closest_greens[0]
             red_close = closest_reds[0]
 
@@ -83,7 +83,7 @@ async def run(self, parameters):
             _, closest_reds = await self.get_sorted_objects("red_cylinder", 2)
             _, closest_greens = await self.get_sorted_objects("green_cylinder", 2)
 
-            # Rename the totems for their symantic name
+            # Rename the totems for their semantic name
             green_far = closest_greens[1]
             red_far = closest_reds[1]
 
diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py b/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py
index 23d7cdfb3..44a3cacae 100644
--- a/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py
+++ b/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py
@@ -607,7 +607,7 @@ async def prepare_for_docking(self):
         # This function looks at the two squares in front of the boat
         # and it gets the middle pixel between the two squares.
         # If the middle pixel is for some reason not in the middle of our camera...
-        # adjust the boat postiion before docking
+        # adjust the boat position before docking
         print("prepare for landing!")
 
         img = await self.front_left_camera_sub.get_next_message()
diff --git a/NaviGator/satellite/rviz_satellite/src/aerialmap_display.cpp b/NaviGator/satellite/rviz_satellite/src/aerialmap_display.cpp
index 22a307f76..bf5ec8b20 100644
--- a/NaviGator/satellite/rviz_satellite/src/aerialmap_display.cpp
+++ b/NaviGator/satellite/rviz_satellite/src/aerialmap_display.cpp
@@ -416,7 +416,7 @@ void AerialMapDisplay::assembleScene()
     // determine location of this tile, flipping y in the process
     const double x = (tile.x() - loader_->centerTileX()) * tile_w + origin_x;
     const double y = -(tile.y() - loader_->centerTileY()) * tile_h + origin_y;
-    //  don't re-use any ids
+    //  don't reuse any ids
     const std::string name_suffix = std::to_string(tile.x()) + "_" + std::to_string(tile.y()) + "_" +
                                     std::to_string(map_id_) + "_" + std::to_string(scene_id_);
 
diff --git a/NaviGator/scripts/bash_aliases.sh b/NaviGator/scripts/bash_aliases.sh
index 216b1ff80..de6da5f4b 100755
--- a/NaviGator/scripts/bash_aliases.sh
+++ b/NaviGator/scripts/bash_aliases.sh
@@ -18,7 +18,7 @@ nthrust() {
 	topic="/$1_motor/cmd"
 	publishers=$(rostopic info "$topic" | grep Publishers)
 	if [ "$publishers" != "Publishers: None" ]; then
-		echo "Somone is already publishing to $topic. Perhaps you need to kill thrust mapper?"
+		echo "Someone is already publishing to $topic. Perhaps you need to kill thrust mapper?"
 		return 1
 	fi
 	rostopic pub "$topic" "roboteq_msgs/Command" "setpoint: $2" -r100
diff --git a/NaviGator/utils/navigator_msgs/srv/GetDockBays.srv b/NaviGator/utils/navigator_msgs/srv/GetDockBays.srv
index 9a39764bd..7081b1b07 100644
--- a/NaviGator/utils/navigator_msgs/srv/GetDockBays.srv
+++ b/NaviGator/utils/navigator_msgs/srv/GetDockBays.srv
@@ -2,4 +2,4 @@
 geometry_msgs/Point[3] bays   #The positions in ENU frame of the center of the three bays 0=left, 1=center, 2=right
 geometry_msgs/Vector3  normal #Vector or normal pointing away from plane of dock back
 bool success                  #False if an error occurred getting dock bays
-string error                  #Descripion of error if success=false
+string error                  #Description of error if success=false
diff --git a/NaviGator/utils/navigator_tools/nodes/navigator_status_tui b/NaviGator/utils/navigator_tools/nodes/navigator_status_tui
index 3efa0a5d1..55645a95e 100755
--- a/NaviGator/utils/navigator_tools/nodes/navigator_status_tui
+++ b/NaviGator/utils/navigator_tools/nodes/navigator_status_tui
@@ -35,7 +35,7 @@ class nav_tui:
         self.panel.hide()
         panel.update_panels()
         self.rate = rospy.Rate(2)  # Fixed rate for while loop to update at: 2 hz
-        # The following are default field initalizations for various values that that will be overwritten
+        # The following are default field initializations for various values that that will be overwritten
         self.voltage = 0
         self.wrench = None
         self.LAT = None
diff --git a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
index 8077b4601..0bd27c291 100755
--- a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
+++ b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
@@ -95,7 +95,7 @@ def check_for_timeout(self, joy: Joy):
 
     def joy_recieved(self, joy: Joy) -> None:
         """
-        Button elements are being assigned and simplied to readable names. The
+        Button elements are being assigned and simplified to readable names. The
         number of deployments or retractions for thrusters are being updated based
         on several conditions. Moreover, additional settings are changed based on the
         state of the controller and the activation of potential alarms or switches.
diff --git a/NaviGator/utils/voltage_gui/src/voltage_gui.py b/NaviGator/utils/voltage_gui/src/voltage_gui.py
index 932dbc22b..79e6a0e85 100644
--- a/NaviGator/utils/voltage_gui/src/voltage_gui.py
+++ b/NaviGator/utils/voltage_gui/src/voltage_gui.py
@@ -184,7 +184,7 @@ def resizeFont(self) -> None:  # done
         threshFont = QtGui.QFont("Times", (self.fontSize) / 3, QtGui.QFont.Bold)
         self.labelThresh.setFont(threshFont)
 
-    # Sets the text of the thrshold info box
+    # Sets the text of the threshold info box
     def initThresh(self) -> None:
         """
         Sets the text of the threshold info box
diff --git a/SubjuGator/command/subjugator_launch/config/passive_sonar.yaml b/SubjuGator/command/subjugator_launch/config/passive_sonar.yaml
index 9901f9703..e55aec3da 100644
--- a/SubjuGator/command/subjugator_launch/config/passive_sonar.yaml
+++ b/SubjuGator/command/subjugator_launch/config/passive_sonar.yaml
@@ -3,7 +3,7 @@
 dist_h: 2.286e-02
 # speed of sound in water
 v_sound: 1482
-#  target Frquency in Hz
+#  target Frequency in Hz
 triggering/target_frequency: 30000
 #  tolerance around target frequerncy in Hz
 triggering/frequency_tolerance: 100
diff --git a/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch b/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch
index eb5e1bc31..3dee6ee81 100644
--- a/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch
+++ b/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch
@@ -42,10 +42,10 @@
       <param name="frame_id" type="string" value="/imu"/>
       <rosparam>
         scale:
-        - [0.993770963897068, 0.00105871125374563, 7.659410525291767e-05]
-        - [0.00105871125374563, 0.9996814868251349, -0.0011040738267441828]
-        - [7.659410525291767e-05, -0.001104073826744163, 1.0065910531028952]
-        shift: [1.2551999807772446e-06, -1.1666595150804588e-06, 6.895773090438596e-08]
+        - [0.9991765357958566, 0.006242798579443988, -0.008472478269327878]
+        - [0.006242798579443957, 1.0016179705091928, 0.0059841151097914345]
+        - [-0.008472478269327836, 0.0059841151097913, 0.999354597532967]
+        shift: [7.889247409445414e-06, 4.879179471165382e-06, 7.46017199298374e-06]
       </rosparam>
     </node>
 
diff --git a/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py b/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py
index 55d1dd5e2..312123597 100755
--- a/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py
+++ b/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py
@@ -93,7 +93,7 @@ def detect(self, dice_img):
         params.minConvexity = 0.8  # 1 = perfect convex hull
         # Filter by Inertia
         params.filterByInertia = True
-        params.minInertiaRatio = 0.4  # Defines the ellipsoid 1= detects only cirlces
+        params.minInertiaRatio = 0.4  # Defines the ellipsoid 1= detects only circles
         # 0 = Detects even lines
 
         # Create a detector with the parameters
diff --git a/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py b/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py
index 0701c3b05..237fe94e3 100755
--- a/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py
+++ b/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py
@@ -52,7 +52,7 @@ class OrangeRectangleFinder:
     * Transform this frames pose into /map frame
     * Plug this frames pose in /map into a kalman filter to reduce noise
 
-    TODO: Allow for two objects to be identifed at once, both filtered through its own KF
+    TODO: Allow for two objects to be identified at once, both filtered through its own KF
     """
 
     # Coordinate axes for debugging image
diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py
index 9261de0ac..2a278a4f4 100644
--- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py
+++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py
@@ -174,7 +174,7 @@ def return_pose(self, srv):
             self.poly_generator = self.polygon_generator()
             return [0, False, srv.intial_position]
 
-        # We search at 1.5 * r so that there is some overlay in the search feilds.
+        # We search at 1.5 * r so that there is some overlay in the search fields.
         np_pose = msg_helpers.pose_to_numpy(srv.intial_position)
         rot_mat = make_2D_rotation(
             tf.transformations.euler_from_quaternion(np_pose[1])[2],
diff --git a/docs/design/passive_sonar/passive_sonar.rst b/docs/design/passive_sonar/passive_sonar.rst
index 522368705..590a7010c 100644
--- a/docs/design/passive_sonar/passive_sonar.rst
+++ b/docs/design/passive_sonar/passive_sonar.rst
@@ -78,7 +78,7 @@ Configuration
 *************
 All parameters that are expected to be changed in tuining are ROS Params initialized in ``passive_sonar.yaml``
 
-To make a custom configation
+To make a custom configuration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 * ``roscd subjugator_launch``
diff --git a/docs/electrical/onboarding.md b/docs/electrical/onboarding.md
index c48026aaa..45d73e7a7 100644
--- a/docs/electrical/onboarding.md
+++ b/docs/electrical/onboarding.md
@@ -20,7 +20,7 @@ including meeting times.
 
 ## Join the electrical GitHub
 Unlike the software and mechanical teams (who share a GitHub repository), we use
-a separate repository for the electrical team. As a resut, you will need to be added
+a separate repository for the electrical team. As a result, you will need to be added
 to this organization. Once you're in Slack (or you've come to the lab), ask an electrical
 leader to add you to the GitHub organization. The organization can be found [here](https://github.com/uf-mil-electrical).
 
diff --git a/docs/indyav/software/planning/indyav_path/path_recorder.rst b/docs/indyav/software/planning/indyav_path/path_recorder.rst
index 77c3d4ee3..d1b5f1a47 100644
--- a/docs/indyav/software/planning/indyav_path/path_recorder.rst
+++ b/docs/indyav/software/planning/indyav_path/path_recorder.rst
@@ -33,7 +33,7 @@ Basic Usage Example
 
 - Visualize this new topic in rviz by clicking `Add` and then `/odom2 -> Odometry`
 
-- Watch the red arrow advance from where the sub started to where the sub stopped updting approximately 10 times a second.
+- Watch the red arrow advance from where the sub started to where the sub stopped updating approximately 10 times a second.
 
 Source Files
 ^^^^^^^^^^^^
diff --git a/docs/navigator/lessons22.md b/docs/navigator/lessons22.md
index 1c92fc298..25607540e 100644
--- a/docs/navigator/lessons22.md
+++ b/docs/navigator/lessons22.md
@@ -62,7 +62,7 @@ future teams to learn from!
   It is quicker to tell when tools have gone missing (as each tool now has a
   dedicated spot in the organizer), and which tool is missing. Furthermore, it
   becomes easier for software members, electrical members, and mentors to find
-  tools, even if they maybe are not acquianted with a deep knowledge of the
+  tools, even if they maybe are not acquainted with a deep knowledge of the
   mechanical team.
 * **Focus on bringing less and staying more organized.** - At RobotX 2022, we
   were one of the teams who had brought the most equipment, yet we had a hard
diff --git a/docs/software/adding_documentation.md b/docs/software/adding_documentation.md
index cc1a1fd46..d91bf76e3 100644
--- a/docs/software/adding_documentation.md
+++ b/docs/software/adding_documentation.md
@@ -100,5 +100,5 @@ $ ./scripts/build_docs --scratch
 ```
 
 ## Contributing changes
-Now that you have made and verifed your changes, follow the [contributing guide](contributing)
+Now that you have made and verified your changes, follow the [contributing guide](contributing)
 to add your changes to the repository.
diff --git a/docs/software/getting_started.md b/docs/software/getting_started.md
index 1215b276e..a40845665 100644
--- a/docs/software/getting_started.md
+++ b/docs/software/getting_started.md
@@ -420,7 +420,7 @@ launches the Gazebo GUI - aka, the thing you will actually interact with! If all
 goes according to plan, you should see our robot in its own little world!
 
 ## Installing developer tools
-After you have verified that your Git setup is working appopriately, take a look
+After you have verified that your Git setup is working appropriately, take a look
 at installing some developer tools on the [Developer Tools](/software/devtools)
 page.
 
diff --git a/docs/software/help.md b/docs/software/help.md
index 060f8376b..f8250fa70 100644
--- a/docs/software/help.md
+++ b/docs/software/help.md
@@ -63,7 +63,7 @@ for examples of it being used.
 
 ## Search the internet
 If your problem is not MIL-specific (issue with Linux, ROS, C++, etc),
-somone has most likely had the same problem and written about it on the internet.
+someone has most likely had the same problem and written about it on the internet.
 You'll be surprised how often you can fix your issue by Googling the error.
 
 ## Search Slack
diff --git a/docs/software/noetic_migration.md b/docs/software/noetic_migration.md
index 6a79ec10a..6a93a86cd 100644
--- a/docs/software/noetic_migration.md
+++ b/docs/software/noetic_migration.md
@@ -45,7 +45,7 @@ before you commit.
 
 Great, the code is now pretty! :D
 
-If you ran `python-modernize`, it will have suggested some changes to you, indcated
+If you ran `python-modernize`, it will have suggested some changes to you, indicated
 by `+` and `-` signs. It may look something like this:
 
 ```diff
diff --git a/mil_common/axros b/mil_common/axros
index a4951d333..1b0399935 160000
--- a/mil_common/axros
+++ b/mil_common/axros
@@ -1 +1 @@
-Subproject commit a4951d33356c349856532ddef5c97c6ec6810c28
+Subproject commit 1b03999351fb5a61b202ff125f493229c2a1676b
diff --git a/mil_common/drivers/mil_passive_sonar/README.md b/mil_common/drivers/mil_passive_sonar/README.md
index 572ad4069..7010a3ae0 100644
--- a/mil_common/drivers/mil_passive_sonar/README.md
+++ b/mil_common/drivers/mil_passive_sonar/README.md
@@ -4,7 +4,7 @@ This package includes the main algorithm to find the direction of a pinger. It a
 # Running:
 Ensure that hydrophones -> ros is running and publishing a `mil_passive_sonar/Ping` msg.
 
-Then run `roslaunch mil_passive_sonar mil_passive_sonar.lauch`
+Then run `roslaunch mil_passive_sonar mil_passive_sonar.launch`
 
 `mil_passive_sonar/FindPinger`
 
diff --git a/mil_common/drivers/mil_passive_sonar/scripts/triggering.py b/mil_common/drivers/mil_passive_sonar/scripts/triggering.py
index 897a76949..321a20411 100755
--- a/mil_common/drivers/mil_passive_sonar/scripts/triggering.py
+++ b/mil_common/drivers/mil_passive_sonar/scripts/triggering.py
@@ -96,7 +96,7 @@ def get_params(self):
         self.enabled = rospy.get_param("~enable_on_launch")
 
         # Attributes about our target frequency range
-        #  target Frquency in Hz
+        #  target Frequency in Hz
         self.target = rospy.get_param("~target_frequency")
         #  tolerance around that frequerncy in Hz
         tolerance = rospy.get_param("~frequency_tolerance")
@@ -121,7 +121,7 @@ def get_params(self):
         self.v_sound = rospy.get_param("v_sound")
 
         # Misc attributes
-        #  minimum gradient of the max convolution wrt time to trigger a time of arivals calculation
+        #  minimum gradient of the max convolution wrt time to trigger a time of arrivals calculation
         self.threshold = rospy.get_param("~threshold")
         self.trigger_offset = rospy.get_param("~trigger_offset")
         #  how far after the triggering time to make upper bound of samples at triggering in sec
diff --git a/mil_common/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp b/mil_common/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
index 4709fa85f..af6f30853 100644
--- a/mil_common/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
+++ b/mil_common/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
@@ -76,7 +76,7 @@ unsigned int select_hist_mode(std::vector<cv::Point> &histogram_modes, unsigned
 
 // Takes in a grayscale image and segments out a semi-homogenous foreground
 // object with pixel intensities close to <target>. Tuning of last three
-// parameters may imrove results but default values should work well in
+// parameters may improve results but default values should work well in
 // most cases.
 void statistical_image_segmentation(const cv::Mat &src, cv::Mat &dest, cv::Mat &debug_img, const int hist_size,
                                     const float **ranges, const int target, std::string image_name = "Unnamed Image",
diff --git a/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py b/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py
index df48a5881..c19e09c5e 100755
--- a/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py
+++ b/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py
@@ -94,7 +94,7 @@ def classify_features(self, features: np.ndarray) -> int:
 
     def feature_probabilities(self, features: np.ndarray) -> List[float]:
         """
-        Allows child classes to give probabilties for each possible class given
+        Allows child classes to give probabilities for each possible class given
         a features vector, instead of just one classification. By default,
         gives 1.0 to classified class and 0.0 to others.
 
diff --git a/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py b/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py
index 5ba5f78cb..05d50cc8f 100644
--- a/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py
+++ b/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py
@@ -213,7 +213,7 @@ def get_pose_3D(
             cam (Optional[PinholeCameraModel]): The camera model.
             rectified (bool): If ``cam`` is set, set True if corners were found in an
                already rectified image (image_rect_color topic).
-            instrinsics (np.ndarray): Camera intrinisic matrix.
+            intrinsics (np.ndarray): Camera intrinisic matrix.
             dist_coeffs (np.ndarray): Camera distortion coefficients.
 
         Returns:
diff --git a/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py b/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py
index d1c8d37e9..caaaf7fd6 100755
--- a/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py
+++ b/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py
@@ -27,7 +27,7 @@ def create_object_msg(
     is needed/available in your application.
 
     Args:
-        name (str): Name of the identifed object.
+        name (str): Name of the identified object.
         attributes (str): Attributes to attach to message, the purpose and value
             of this attribute will vary by application. Defaults to an empty string.
         confidence (Optional[float]): Float between 0 and 1 describing the confidence
diff --git a/mil_common/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp b/mil_common/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
index a0bd83adb..14333e5e3 100644
--- a/mil_common/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
+++ b/mil_common/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
@@ -24,7 +24,7 @@ PcdColorizer::PcdColorizer(ros::NodeHandle nh, string input_pcd_topic)
   }
   catch (std::exception &e)
   {
-    _err_msg = "COLORIZER: Suscriber or publisher error caught: "_s + e.what();
+    _err_msg = "COLORIZER: Subscriber or publisher error caught: "_s + e.what();
     ROS_ERROR(_err_msg.c_str());
     return;
   }
diff --git a/mil_common/ros_alarms/test/roscpp/listener_test.cpp b/mil_common/ros_alarms/test/roscpp/listener_test.cpp
index 2138546e5..f365a1305 100644
--- a/mil_common/ros_alarms/test/roscpp/listener_test.cpp
+++ b/mil_common/ros_alarms/test/roscpp/listener_test.cpp
@@ -51,7 +51,7 @@ TEST(ListenerTest, listenerTest)
   ab.getAlarm() = pxy;
   ab.clear();  // alarm starts off cleared
 
-  // Last update time happened wehen we called ab.clear()
+  // Last update time happened when we called ab.clear()
   auto first_query = listener.getLastUpdateTime();
 
   ab.updateSeverity(5);  // This is an update to the alarm
diff --git a/mil_common/ros_alarms/test/rospy/python_tests.py b/mil_common/ros_alarms/test/rospy/python_tests.py
index 9c29a7305..c11b0f061 100755
--- a/mil_common/ros_alarms/test/rospy/python_tests.py
+++ b/mil_common/ros_alarms/test/rospy/python_tests.py
@@ -17,7 +17,7 @@ def __init__(self, *args):
         super().__init__(*args)
 
     """ Tests alarm client operations
-    Creates some listeners and some broadcasters and tests various raising and clearing conditoins
+    Creates some listeners and some broadcasters and tests various raising and clearing conditions
     Also tests various combination of parameters
     """
 
@@ -142,7 +142,7 @@ def test_callbacks(self):
         self.cleared = False
         self.both = False
 
-        # Make sure callbacks run when they're suppsed to
+        # Make sure callbacks run when they're supposed to
         ab_a.raise_alarm()
         rospy.sleep(0.5)
 
diff --git a/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py
index 22f8eac56..45e12b931 100644
--- a/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py
+++ b/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py
@@ -98,7 +98,7 @@ class Image_Subscriber:
         last_image_time (genpy.Time): The time of the last image received.
         im_sub (rospy.Subscriber): The subscriber to the image topic. The topic
             name and queue size are received through the constructor.
-        info_sub (rospy.Susbcriber): The subscriber to the camera info topic.
+        info_sub (rospy.Subscriber): The subscriber to the camera info topic.
             The topic name is derived from the root of the supplied topic and the
             queue size is derived from the constructor.
         bridge (CvBridge): The bridge between OpenCV and ROS.