Correcting grammar mistakes

Signed-off-by: Clement795 <clement.lepretre4@gmail.com>

Author: Clement795

tutorials/docs/adding_a_nav2_task_server.rst

@@ -3,9 +3,9 @@
 Adding a New Nav2 Task Server
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-A nav2 task server consists of server-side logic logic to complete different types of requests, usually called by the autonomy system or through the Behavior Tree Navigator. In this guide, we will discuss the core components needed to add a new task server to Nav2 (ex. Controller, Behavior, Smoother, Planner Servers). Namely, how to set up your new Lifecycle-Component Node for launch and state management and the communication of semantically meaningful error codes (if necessary).
+A nav2 task server consists of server-side logic to complete different types of requests, usually called by the autonomy system or through the Behavior Tree Navigator. In this guide, we will discuss the core components needed to add a new task server to Nav2 (ex. Controller, Behavior, Smoother, Planner Servers). Namely, how to set up your new Lifecycle-Component Node for launch and state management and the communication of semantically meaningful error codes (if necessary).
 
-While this tutorial does not cover how to add the complementary Behavior Tree Node to interact with this new Task Server; that is covered at length in :ref:`writing_new_nbt_plugin` so this Task Server can be invoked in the BTs in BT Navigator.
+While this tutorial does not cover how to add the complementary Behavior Tree Node to interact with this new Task Server, that is covered at length in :ref:`writing_new_nbt_plugin` so this Task Server can be invoked in the BTs in BT Navigator.
 
 If you've created a new Task Server that may have general reuse for the community, consider contacting the maintainers to add it to the Nav2 project! Nav2 gets better through contributions by users like you!