diff --git a/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml b/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
index b8939b93..500413c2 100644
--- a/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
@@ -7,9 +7,9 @@
   <arg name="rviz" default="true"/>
 
   <arg name="mapping_min_range" default="7.0" description="Used to drop self reflections"/>
-  <arg name="mapping_max_range" default="100.0" description="Used to avoid innacurate points and speed up the process"/>
+  <arg name="mapping_max_range" default="100.0" description="Used to avoid inaccurate points and speed up the process"/>
   <arg name="calibration_min_distance_between_frames" default="4.0" description="Min separation between calibration clouds to avoid correlation"/>
-  <arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the differente fovs"/>
+  <arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the different field of views"/>
   <arg name="lidar_calibration_max_frames" default="3" description="Number of pointclouds used for calibration"/>
 
   <let name="calibration_camera_optical_link_frames" value="['']"/>
diff --git a/sensor_calibration_manager/sensor_calibration_manager/calibrators/drs/mapping_based_lidar_lidar_calibrator.py b/sensor_calibration_manager/sensor_calibration_manager/calibrators/drs/mapping_based_lidar_lidar_calibrator.py
index 7edef5c0..422b9e56 100644
--- a/sensor_calibration_manager/sensor_calibration_manager/calibrators/drs/mapping_based_lidar_lidar_calibrator.py
+++ b/sensor_calibration_manager/sensor_calibration_manager/calibrators/drs/mapping_based_lidar_lidar_calibrator.py
@@ -61,14 +61,10 @@ def post_process(self, calibration_transforms: Dict[str, Dict[str, np.array]]):
         ]
 
         result = {
-            self.base_link: {
-                calibration_lidar_frame: transform
-                for calibration_lidar_frame, transform in zip(
-                    self.calibration_lidar_frames, base_to_calibration_lidar_transforms
-                )
-            }
+            self.base_link: dict(
+                zip(self.calibration_lidar_frames, base_to_calibration_lidar_transforms)
+            )
         }
-
         result[self.base_link][self.mapping_lidar_frame] = base_to_mapping_transform
 
         return result