diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
index 8fb7f5a25..f1e41e172 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_sensor.hpp
@@ -19,7 +19,7 @@ class VelodyneSensor
   virtual bool fillAzimuthCache() { return false; }
 
   // calculate the corrected azimuth from each firing timing.
-  /// @brief each VLP calculating code sample in user manual. If you know details, see commens in each <vlp_list>.hpp file.
+  /// @brief each VLP calculating sample code and formula in user manual. If you know details, see commens in each <vlp_list>.hpp file.
   virtual uint16_t getAzimuthCorrected(
     uint16_t azimuth, float azimuth_diff, int firing_sequence, int firing_order) = 0;
 };
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_16.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_16.hpp
index b283a5f34..688ee9c7b 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_16.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_16.hpp
@@ -9,7 +9,7 @@ namespace drivers
 class VLP16 : public VelodyneSensor
 {
 public:
-  /// @brief fomula from VLP16 User manual in p.64
+  /// @brief formula from VLP16 User manual in p.64
   /// @param azimuth Azimuth angle
   /// @param azimuth_diff Azimuth difference
   /// @param firing_sequence Firing sequence
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp
index 426a687b7..847234d23 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp
@@ -19,7 +19,7 @@ class VLP32 : public VelodyneSensor
     return true;
   }
 
-  /// @brief fomula from VLP32 User manual in p.62
+  /// @brief formula from VLP32 User manual in p.62
   /// @param azimuth Azimuth angle
   /// @param azimuth_diff Azimuth difference between a current azimuth and a next azimuth
   /// @param firing_order Firing order
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls_128.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls_128.hpp
index 00f44404e..4b0429740 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls_128.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls_128.hpp
@@ -27,7 +27,7 @@ class VLS128 : public VelodyneSensor
     return true;
   }
 
-  /// @brief fomula from VLS128 User manual in p.65
+  /// @brief formula from VLS128 User manual in p.65
   /// @param azimuth Azimuth angle
   /// @param azimuth_diff Azimuth difference
   /// @param firing_order Firing order