diff --git a/examples/worlds/drive_to_pose_controller.sdf b/examples/worlds/drive_to_pose_controller.sdf
index e9342cd2d4..8da20faf98 100644
--- a/examples/worlds/drive_to_pose_controller.sdf
+++ b/examples/worlds/drive_to_pose_controller.sdf
@@ -38,7 +38,7 @@
       gz topic -t "/model/DeliveryBot/cmd_pose" -m gz.msgs.Pose_V \
         -p "pose:[{position: {x: -5.9, y: 9.18, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.99, w: 0.0}}]"
 
-  This plugin is loosely base on the control schemes introduced in Chapter 4 (pp. 130-142) of
+  This plugin is loosely based on the control schemes introduced in Chapter 4 (pp. 130-142) of
   Robotics, Vision and Control by Corke, Jachimczyk and Pillat and it can be found at:
   https://link.springer.com/chapter/10.1007/978-3-031-07262-8_4
 
@@ -153,7 +153,6 @@
       name="gz::sim::systems::Physics">
     </plugin>
 
-
     <model name="aws_robomaker_warehouse_ShelfF_01_001">
       <include>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ShelfF_01</uri>
@@ -222,7 +221,6 @@
       <pose>0 0 -4 0 0 0</pose>
     </model>
 
-
     <model name="aws_robomaker_warehouse_Bucket_01_020">
       <include>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_Bucket_01</uri>
@@ -265,7 +263,6 @@
       <pose>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
     </model>
 
-
     <model name="aws_robomaker_warehouse_ClutteringC_01_027">
       <include>
         <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/aws_robomaker_warehouse_ClutteringC_01</uri>
@@ -322,7 +319,6 @@
       <pose>-1.592441 7.715420 0 0 0 0</pose>
     </model>
 
-
     <light name="Warehouse_CeilingLight_003" type="point">
       <pose>0 0 8.5 0 0 0</pose>
       <diffuse>0.5 0.5 0.5 1</diffuse>
diff --git a/src/systems/drive_to_pose_controller/DriveToPoseController.hh b/src/systems/drive_to_pose_controller/DriveToPoseController.hh
index 932e917bc2..b61d62ed47 100644
--- a/src/systems/drive_to_pose_controller/DriveToPoseController.hh
+++ b/src/systems/drive_to_pose_controller/DriveToPoseController.hh
@@ -40,7 +40,7 @@ namespace systems
   class DriveToPoseControllerPrivate;
 
   /// \brief DriveToPoseController is a simple proportional controller that
-  /// is attached to a model to move it in the  y giving a pose in Gazebo's
+  /// is attached to a model to move it by giving a pose in Gazebo's
   /// world coordinate system. This is not a standalone plugin, and requires
   /// the DiffDrive and OdometryPublisher plugins respectively.
   ///
diff --git a/test/integration/drive_to_pose_controller_system.cc b/test/integration/drive_to_pose_controller_system.cc
index 60b70d9eaa..cd64f92a69 100644
--- a/test/integration/drive_to_pose_controller_system.cc
+++ b/test/integration/drive_to_pose_controller_system.cc
@@ -136,7 +136,7 @@ TEST_F(DriveToPoseControllerTest, CurrentPosePublish)
   TestPublishCmd(
     gz::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH),
-      "/test/worlds/drive_to_pose_controller.sdf"),
+      "test", "worlds", "drive_to_pose_controller.sdf"),
     "/model/DeliveryBot",
     pose);
 }
@@ -149,7 +149,7 @@ TEST_F(DriveToPoseControllerTest, XCoordinatePublish)
   TestPublishCmd(
     gz::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH),
-      "/test/worlds/drive_to_pose_controller.sdf"),
+      "test", "worlds", "drive_to_pose_controller.sdf"),
    "/model/DeliveryBot",
     pose);
 }
@@ -162,7 +162,7 @@ TEST_F(DriveToPoseControllerTest, YCoordinatePublish)
   TestPublishCmd(
     gz::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH),
-      "/test/worlds/drive_to_pose_controller.sdf"),
+      "test", "worlds", "drive_to_pose_controller.sdf"),
    "/model/DeliveryBot",
     pose);
 }
@@ -175,7 +175,7 @@ TEST_F(DriveToPoseControllerTest, YawPublish)
   TestPublishCmd(
     gz::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH),
-      "/test/worlds/drive_to_pose_controller.sdf"),
+      "test", "worlds", "drive_to_pose_controller.sdf"),
    "/model/DeliveryBot",
     pose);
 }
@@ -188,7 +188,8 @@ TEST_F(DriveToPoseControllerTest, XYCoordinateYawPublish)
   TestPublishCmd(
     gz::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH),
-      "/test/worlds/drive_to_pose_controller.sdf"),
+      "test", "worlds", "drive_to_pose_controller.sdf"),
    "/model/DeliveryBot",
     pose);
 }
+