diff --git a/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp b/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
index aa4d78df1d..060a113f56 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
+++ b/moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp
@@ -166,7 +166,7 @@ double jointLimitVelocityScalingFactor(const Eigen::VectorXd& velocities,
                                        const moveit::core::JointBoundsVector& joint_bounds, double scaling_override);
 
 /**
- * \brief Finds the joint variable indices correspond to joints exceeding allowable position limits.
+ * \brief Finds the joint variable indices corresponding to joints exceeding allowable position limits.
  * @param positions The joint positions.
  * @param velocities The current commanded velocities.
  * @param joint_bounds The allowable limits for the robot joints.
diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
index ba63cea053..e270dc76e3 100644
--- a/moveit_ros/moveit_servo/src/utils/common.cpp
+++ b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -422,7 +422,7 @@ std::vector<size_t> jointVariablesToHalt(const Eigen::VectorXd& positions, const
     bool halt_joint = false;
     for (const auto& variable_bound : *joint_bound)
     {
-      // First, loop through all the variables to see if
+      // First, loop through all the joint variables to see if the entire joint should be halted.
       if (variable_bound.position_bounded_)
       {
         const bool approaching_negative_bound =