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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Author: saikishor

joint_state_broadcaster/doc/userdoc.rst

@@ -46,10 +46,10 @@ Order of the joints in the message
 The order of the joints in the message can determined by 3 different parameter settings:
 
 1. No defined ``joints`` parameter and ``use_urdf_to_filter`` set to ``false``:
-    The order of the joints in the message is the same as the order of the joint's state interfaces registered in the resource manager. This is typically the order in which the hardware components are loaded and configured.
+    The order of the joints in the message is the same as the order of the joints' state interfaces registered in the resource manager. This is typically the order in which the hardware components are loaded and configured.
 
 2. No defined ``joints`` parameter and ``use_urdf_to_filter`` set to ``true``:
-    The order of the joints in the message is the same as the order of the joints in the URDF file, which is inherited from the loaded URDF Model.
+    The order of the joints in the message is the same as the order of the joints in the URDF file, which is inherited from the loaded URDF model and independent of the order in the `ros2_control` tag.
 
 3. Defined ``joints`` parameter:
     The order of the joints in the message is the same as the order of the joints in the ``joints`` parameter.