Minor fixes

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

Author: ajtudela

migration/Jazzy.rst

@@ -432,5 +432,6 @@ During the ``goalCompleted`` callback, it fetches the ``waypoint_statuses`` inst
 
 Groot 2 Support
 ***************
+In `PR #5065 <https://github.com/ros-navigation/navigation2/pull/5065>`_ , BT navigators: ``navigate_to_pose`` and ``navigate_through_poses`` now support live monitoring and visualization of the behavior tree using Groot 2. JSON conversions are also available to see the content of the Blackboard, allowing the introspection of the BT nodes. Switching bt-xmls on the fly through a new goal request is also included.
 
-BT navigators: ``navigate_to_pose`` and ``navigate_through_poses`` now support live monitoring and visualization of the behavior tree using Groot 2. JSON conversions are also available to see the content of the Blackboard, allowing the introspection of the BT nodes. Switching bt-xmls on the fly through a new goal request is also included. Because live monitoring of Behavior Tree with more than 20 nodes and visualizing the content of the blackboard is a PRO (paid) feature of Groot 2. This feature is disabled by default.
+Because live monitoring of Behavior Tree with more than 20 nodes and visualizing the content of the blackboard is a PRO (paid) feature of Groot 2. This feature is disabled by default.

plugin_tutorials/docs/writing_new_bt_plugin.rst

@@ -241,9 +241,9 @@ Select this BT XML file in your specific navigation request in ``NavigateToPose`
 Using custom types for Input/Output ports
 =========================================
 
-In addition to standard types, custom types such as those from `nav2_msgs` or `geometry_msgs` can also be used for input/output ports. 
+In addition to standard types, custom types such as those from ``nav2_msgs`` or ``geometry_msgs`` can also be used for input/output ports. 
 
-For example, you can define custom types for ports in the `providedPorts` function as follows:
+For example, you can define custom types for ports in the ``providedPorts`` function as follows:
 
 .. code-block:: cpp
 
@@ -256,7 +256,7 @@ For example, you can define custom types for ports in the `providedPorts` functi
 
 To use custom types for input/output ports in the behavior tree XML, it is necessary to convert them from a string. This is because ports in the XML are represented as strings and must be transformed into the corresponding data type in the code.
 
-For example, if you have a custom type `geometry_msgs::msg::Point`, you can perform the conversion as follows:
+For example, if you have a custom type ``geometry_msgs::msg::Point``, you can perform the conversion as follows:
 
 .. code-block:: cpp
 
@@ -279,7 +279,7 @@ For example, if you have a custom type `geometry_msgs::msg::Point`, you can perf
   }
   }  // namespace BT
 
-For more information on custom type conversion, you can refer to the `bt_utils.hpp <https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp>`_ or the BT.CPP documentation : `Parsing a string <https://www.behaviortree.dev/docs/tutorial-basics/tutorial_03_generic_ports#parsing-a-string>`_
+For more information on custom type conversion, you can refer to the `bt_utils.hpp <https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp>`_ or the BT.CPP documentation: `Parsing a string <https://www.behaviortree.dev/docs/tutorial-basics/tutorial_03_generic_ports#parsing-a-string>`_.
 
 Visualize the content of the blackboard in Groot 2 (PRO)
 ========================================================
@@ -312,7 +312,7 @@ After defining the conversion, you need to register the custom type in the `prov
     });
   }
 
-For more information on custom type conversion, you can refer to the `json_utils.hpp <https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/json_utils.hpp>`_ or the BT.CPP documentation : `Visualize custom types in the Blackboard <https://www.behaviortree.dev/docs/tutorial-basics/tutorial_11_groot2/#visualize-custom-types-in-the-blackboard>`_
+For more information on custom type conversion, you can refer to the `json_utils.hpp <https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/include/nav2_behavior_tree/json_utils.hpp>`_ or the BT.CPP documentation: `Visualize custom types in the Blackboard <https://www.behaviortree.dev/docs/tutorial-basics/tutorial_11_groot2/#visualize-custom-types-in-the-blackboard>`_
 
   .. note::