Update README.md

README.md

 # Description
-This project encapsulates the ROS [SimpleActionServer](http://wiki.ros.org/actionlib/DetailedDescription) to simplify its use by the ROS node developers. See the general [actionlib](http://wiki.ros.org/actionlib) documentation and the more [detailed description](http://wiki.ros.org/actionlib/DetailedDescription) available at the ROS wiki for more information on the ROS action interface.
+This project encapsulates the ROS [SimpleActionServer](http://wiki.ros.org/actionlib/DetailedDescription#Simple_Action_Server) to simplify its use by the ROS node developers. See the general [actionlib](http://wiki.ros.org/actionlib) documentation and the more [detailed description](http://wiki.ros.org/actionlib/DetailedDescription) available at the ROS wiki for more information on the ROS action interface.
 
 This project is implemented as a templated C++ class for any of the ROS action messages available. When instantiating an object of this class, the user must specify:
 
@@ -17,7 +17,7 @@ The main features of this class are listed next, and a detailed description can
 
 ### User configurable callbacks
 
-This class provides a set of callback functions to notify the user when something happens (*start_action* and *stop_action*) or to allow the user to provide the necessary information when required (*is_finished*, *has succeeded*, *get_result* and *get_feedback*). The callback functions can be set by the user using the corresponding register*Callback functions. No default implementation of these functions is provided and the action server requires all of them to operate properly.
+This class provides a set of callback functions to notify the user when something happens (*start_action* and *stop_action*) or to allow the user to provide the necessary information when required (*is_finished*, *has succeeded*, *get_result* and *get_feedback*). The callback functions must be set by the user using the corresponding register*Callback functions. No default implementation of these functions is provided and the action server requires all of them to operate properly.
 
 The main purpose of each of the callback functions is as follows:
 
@@ -58,7 +58,7 @@ This class has the following ROS dependencies:
 
 # How to use it
 
-An object if this class can be instantiated with the desired action type in any ROS node. However, to simplify its use there is an script (*add_action_server_client*) which automatically adds it to a ROS node created with the *create_driver_package* or *create_algorithm_package* scripts.
+An object of this class can be instantiated with the desired action type in any ROS node. However, to simplify its use there is a script (*add_action_server_client*) which automatically adds it to a ROS node created with the *create_driver_package* or *create_algorithm_package* scripts.
 
 Check the [IRI ROS scripts](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_scripts) page for further information on all these scripts.