diff --git a/docs/source/create_interface_package.rst b/docs/source/create_interface_package.rst
index 3b9eb22..1594f65 100644
--- a/docs/source/create_interface_package.rst
+++ b/docs/source/create_interface_package.rst
@@ -320,7 +320,7 @@ which returns expanded information about all fields of the action
     # MoveStraightIn2D.action from https://ros2-tutorial.readthedocs.io
     # Attempts to move from initial position to `desired_position`.
     # Returns `final_position` achieved.
-    # Feedback is the norm of the error between `initial_position` and the current position.
+    # Feedback is the Euclidean distance between `initial_position` and the current position.
     geometry_msgs/Point desired_position
             float64 x
             float64 y
@@ -331,4 +331,4 @@ which returns expanded information about all fields of the action
             float64 y
             float64 z
     ---
-    float32 error_norm
+    float32 distance
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 7392d61..5a58354 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -32,7 +32,7 @@ The example code has their own License headers, usually `MIT Licensed <https://o
 
 📖 **About this tutorial**
 
-`ROS2 Jazzy <https://docs.ros.org/en/jazzy/>`_ tutorials by `Murilo M. Marinho <https://murilomarinho.info/>`_, focusing on Ubuntu 24.04 x64 LTS and the programming practices of successful state-of-the-art robotics implementations such as the `SmartArmStack <https://smartarmstack.github.io>`_ also used in the `AISciencePlatform <https://github.com/AISciencePlatform>`_.
+`ROS2 Jazzy <https://docs.ros.org/en/jazzy/>`_ tutorials by `Murilo M. Marinho <https://murilomarinho.info/>`_, focusing on Ubuntu 24.04 x64/arm64 LTS and the programming practices of successful state-of-the-art robotics implementations such as the `SmartArmStack <https://smartarmstack.github.io>`_ also used in the `AISciencePlatform <https://github.com/AISciencePlatform>`_.
 
 These tutorials have been the backbone of `EEEN62021 Software for Robotics <https://www.manchester.ac.uk/study/masters/courses/list/20967/msc-robotics/course-details/EEEN62021>`_, one of the units of the `MSc Robotics <https://www.manchester.ac.uk/study/masters/courses/list/20967/msc-robotics/>`_ at the `University of Manchester <https://www.manchester.ac.uk>`_.