diff --git a/README.md b/README.md
index 8aac1419a2..a8b2cb88f1 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/branch/iron/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
 
-Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Navigation2.
+Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.
 
 ## Build status
 
diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
index de33c3284c..9fceb90fd3 100644
--- a/doc/controllers_index.rst
+++ b/doc/controllers_index.rst
@@ -6,24 +6,9 @@
 ros2_controllers
 #################
 
-`GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
-
-
-Nomenclature
-************
-
-The ros2_control framework uses namespaces to sort controller according to the type of command interface they are using.
-The controllers are using `common hardware interface definitions`_.
-The controllers' namespaces are commanding the following command interface types:
-
-  - ``position_controllers``: ``hardware_interface::HW_IF_POSITION``
-  - ``velocity_controller``: ``hardware_interface::HW_IF_VELOCITY``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_ACCELERATION``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
-  - ...
-
-.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://navigation.ros.org/>`_.
 
+`Link to GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
 
 
 Guidelines and Best Practices
@@ -36,34 +21,54 @@ Guidelines and Best Practices
    *
 
 
-Available Controllers
-*********************
+Controllers for Mobile Robots
+*****************************
 
 .. toctree::
    :titlesonly:
 
    Ackermann Steering Controller <../ackermann_steering_controller/doc/userdoc.rst>
-   Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Bicycle Steering Controller <../bicycle_steering_controller/doc/userdoc.rst>
    Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
+   Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
+   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
+   Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst>
+
+Controllers for Manipulators and Other Robots
+*********************************************
+
+The controllers are using `common hardware interface definitions`_, and may use namespaces depending on the following command interface types:
+
+  - ``position_controllers``: ``hardware_interface::HW_IF_POSITION``
+  - ``velocity_controller``: ``hardware_interface::HW_IF_VELOCITY``
+  - ``effort_controllers``: ``hardware_interface::HW_IF_ACCELERATION``
+  - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
+
+.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+
+
+.. toctree::
+   :titlesonly:
+
+   Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Gripper Controller <../gripper_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
-   Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
-   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
-   Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
 
 
-Available Broadcasters
+Broadcasters
 **********************
 
+Broadcasters are used to publish sensor data from hardware components to ROS topics.
+In the sense of ros2_control, broadcasters are still controllers using the same controller interface as the other controllers above.
+
 .. toctree::
    :titlesonly:
 
    Force Torque Sensor Broadcaster <../force_torque_sensor_broadcaster/doc/userdoc.rst>
-   Imu Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
+   IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
    Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
    Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
index 01aa2492a8..cd623a5acb 100644
--- a/forward_command_controller/doc/userdoc.rst
+++ b/forward_command_controller/doc/userdoc.rst
@@ -5,7 +5,7 @@
 forward_command_controller
 ==========================
 
-This is a base class implementing a feedforward controller. Specific implementations can be found in:
+This is a base class implementing a feedforward controller. Specific implementations of this base class can be found in:
 
 * :ref:`position_controllers_userdoc`
 * :ref:`velocity_controllers_userdoc`