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@@ -22,9 +22,9 @@ Purpose
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=======
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`Cartographer`_ is a system that provides real-time simultaneous localization
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-and mapping `SLAM`_ across multiple platforms and sensor configurations. This
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-repository provides Cartographer SLAM for `TurtleBots`_ via
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-`Cartographer ROS`_.
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+and mapping `SLAM`_ in 2D and 3D across multiple platforms and sensor
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+configurations. This repository provides Cartographer SLAM for `TurtleBots`_
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+via `Cartographer ROS`_.
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.. _Cartographer: https://github.com/googlecartographer/cartographer
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.. _Cartographer ROS: https://github.com/googlecartographer/cartographer_ros
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@@ -43,9 +43,9 @@ Contributing
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============
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You can find information about contributing to Cartographer ROS's TurtleBot
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-support at our `Contribution page`_.
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+support at `our Contribution page`_.
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-.. _Contribution page: https://github.com/googlecartographer/cartographer_turtlebot/blob/master/CONTRIBUTING.md
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+.. _our Contribution page: https://github.com/googlecartographer/cartographer_turtlebot/blob/master/CONTRIBUTING.md
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.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_turtlebot.svg?branch=master
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:alt: Build Status
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Damon Kohler