diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index 56dc09a90..c205c36dc 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -72,7 +72,8 @@ rcl_get_zero_initialized_client(void);
  * required rosidl_service_type_support_t object.
  * This object can be obtained using a language appropriate mechanism.
  * \todo TODO(wjwwood) write these instructions once and link to it instead
- * For C a macro can be used (for example `example_interfaces/AddTwoInts`):
+ *
+ * For C, a macro can be used (for example `example_interfaces/AddTwoInts`):
  *
  * ```c
  * #include <rosidl_generator_c/service_type_support_struct.h>
@@ -82,7 +83,7 @@ rcl_get_zero_initialized_client(void);
  *   ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
  * ```
  *
- * For C++ a template function is used:
+ * For C++, a template function is used:
  *
  * ```cpp
  * #include <rosidl_typesupport_cpp/service_type_support.hpp>
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
index 3aadd1e36..d91183f1a 100644
--- a/rcl/include/rcl/publisher.h
+++ b/rcl/include/rcl/publisher.h
@@ -68,7 +68,8 @@ rcl_get_zero_initialized_publisher(void);
  * required rosidl_message_type_support_t object.
  * This object can be obtained using a language appropriate mechanism.
  * \todo TODO(wjwwood) write these instructions once and link to it instead
- * For C a macro can be used (for example `std_msgs/String`):
+ *
+ * For C, a macro can be used (for example `std_msgs/String`):
  *
  * ```c
  * #include <rosidl_generator_c/message_type_support_struct.h>
@@ -77,7 +78,7 @@ rcl_get_zero_initialized_publisher(void);
  *   ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
  * ```
  *
- * For C++ a template function is used:
+ * For C++, a template function is used:
  *
  * ```cpp
  * #include <rosidl_typesupport_cpp/message_type_support.hpp>
diff --git a/rcl/include/rcl/rcl.h b/rcl/include/rcl/rcl.h
index 66ba0de6e..0405b9ba6 100644
--- a/rcl/include/rcl/rcl.h
+++ b/rcl/include/rcl/rcl.h
@@ -51,7 +51,7 @@
  *
  * Further still there are some useful abstractions and utilities:
  *
- * - Allocator concept, which can used to control allocation in `rcl_*` functions
+ * - Allocator concept, which can be used to control allocation in `rcl_*` functions
  *   - rcl/allocator.h
  * - Concept of ROS Time and access to steady and system wall time
  *   - rcl/time.h
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 4f36bd494..b76039268 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -69,7 +69,8 @@ rcl_get_zero_initialized_service(void);
  * required rosidl_service_type_support_t object.
  * This object can be obtained using a language appropriate mechanism.
  * \todo TODO(wjwwood) write these instructions once and link to it instead
- * For C a macro can be used (for example `example_interfaces/AddTwoInts`):
+ *
+ * For C, a macro can be used (for example `example_interfaces/AddTwoInts`):
  *
  * ```c
  * #include <rosidl_generator_c/service_type_support_struct.h>
@@ -78,7 +79,7 @@ rcl_get_zero_initialized_service(void);
  *   ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
  * ```
  *
- * For C++ a template function is used:
+ * For C++, a template function is used:
  *
  * ```cpp
  * #include <rosidl_generator_cpp/service_type_support.hpp>
@@ -263,7 +264,7 @@ rcl_take_request(
  * owned by the calling code, but should remain constant during
  * rcl_send_response().
  *
- e This function is thread safe so long as access to both the service and the
+ * This function is thread safe so long as access to both the service and the
  * `ros_response` is synchronized.
  * That means that calling rcl_send_response() from multiple threads is
  * allowed, but calling rcl_send_response() at the same time as non-thread safe
diff --git a/rcl/include/rcl/wait.h b/rcl/include/rcl/wait.h
index 5eed64f4c..05265d591 100644
--- a/rcl/include/rcl/wait.h
+++ b/rcl/include/rcl/wait.h
@@ -265,10 +265,10 @@ rcl_wait_set_clear(rcl_wait_set_t * wait_set);
  *
  * \param[inout] wait_set struct to be resized
  * \param[in] subscriptions_size a size for the new subscriptions set
- * \param[in] guard_conditions_size a size for the new subscriptions set
- * \param[in] timers_size a size for the new subscriptions set
- * \param[in] clients_size a size for the new subscriptions set
- * \param[in] services_size a size for the new subscriptions set
+ * \param[in] guard_conditions_size a size for the new guard conditions set
+ * \param[in] timers_size a size for the new timers set
+ * \param[in] clients_size a size for the new clients set
+ * \param[in] services_size a size for the new services set
  * \return `RCL_RET_OK` if resized successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
@@ -321,7 +321,7 @@ rcl_wait_set_add_client(
   rcl_wait_set_t * wait_set,
   const rcl_client_t * client);
 
-/// Store a pointer to the client in the next empty spot in the set.
+/// Store a pointer to the service in the next empty spot in the set.
 /**
  * This function behaves exactly the same as for subscriptions.
  * \see rcl_wait_set_add_subscription