Fixes for Concepts: How-To Guide (moveit#286)

Co-authored-by: cmelliott2 <[email protected]>

doc/concepts/how_to_guide.rst

@@ -13,31 +13,31 @@ These pages posses these qualities:
 * practical usability
 * good naming
 
-In a tutorial you carefully guide the reader through doing a set of steps with the goal of learning.
-Readers who are following tutorials don't know the terms or concepts yet to ask specific questions.
+In a tutorial, you carefully guide the reader through doing a set of steps with the goal of learning.
+Readers who are following tutorials don't yet know the terms or concepts well enough to ask specific questions.
 Readers of How-To guides are already using MoveIt but are looking for instructions on doing something specific.
 
-Names Answer a User's Question
+Name Answers a User's Question
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 How-To guides answer very specific questions and should capture Google searches.
-For that reason the naming of them is really important.
-An example of some potentially good names are:
+For that reason, naming is very important.
+Examples of good names are:
 
 * How to Visualize Collisions in MoveIt
 * How to Grasp Objects with Moveit
-* How to run MoveIt with UR5
+* How to Run MoveIt with UR5
 * How to Fix a Segfault
 * How to Migrate from Foxy to Galactic
 * How to Run in Gazebo
-* How to Setup a New Robot for MoveIt
-* How to use the MoveIt RViz plugin
+* How to Set Up a New Robot for MoveIt
+* How to Use the MoveIt RViz Plugin
 * How to Teleop a Robot Arm with a Controller
 
-Goal Focused and Practical
+Goal-Focused and Practical
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-For these guides it is really important that you focus specifically on solving the problem the user came to the site for.
-Because these users have a deeper understanding though you should present the user with some options when they will need to make a decision with tradeoffs.
+For these guides it is important that you focus specifically on solving the problem the user came to the site for.
+Because these users already have a deeper understanding of core concepts, you should present the user with some options when they will need to make a decision with tradeoffs.
 You should state what the assumed pre-requisites are in the introduction to the How-To Guide.
-That way you can avoid having multiple copies of isntructions on this site and allow users who already know the prerequisites to jump right into solving their problem.
+By doing so, you avoid duplicating instructions on this site and you allow users who already know the prerequisites to jump right into solving their problem.