diff --git a/pr2_arm_control/src/pr2_arm_control/arm.py b/pr2_arm_control/src/pr2_arm_control/arm.py
index 36c8b49..4f1058f 100644
--- a/pr2_arm_control/src/pr2_arm_control/arm.py
+++ b/pr2_arm_control/src/pr2_arm_control/arm.py
@@ -59,7 +59,7 @@ def __init__(self, arm_index, tf_listener):
         rospy.wait_for_service(switch_controller)
         self.switch_service = rospy.ServiceProxy(switch_controller,
                                                  SwitchController)
-        rospy.loginfo('Got response form the switch controller for '
+        rospy.loginfo('Got response from the switch controller for '
                       + self.side() + ' arm.')
 
         # # Create a trajectory action client
@@ -68,7 +68,7 @@ def __init__(self, arm_index, tf_listener):
         self.traj_action_client = SimpleActionClient(
                         traj_controller_name, JointTrajectoryAction)
         self.traj_action_client.wait_for_server()
-        rospy.loginfo('Got response form trajectory action server for '
+        rospy.loginfo('Got response from trajectory action server for '
                       + self.side() + ' arm.')
 
         # Set up Inversse Kinematics
@@ -83,7 +83,7 @@ def __init__(self, arm_index, tf_listener):
         self.gripper_client = SimpleActionClient(gripper_name,
                                                     Pr2GripperCommandAction)
         self.gripper_client.wait_for_server()
-        rospy.loginfo('Got response form gripper server for '
+        rospy.loginfo('Got response from gripper server for '
                       + self.side() + ' arm.')
         self.check_gripper_state()
 
@@ -333,7 +333,7 @@ def get_time_to_pose(self, target_pose):
             return time_to_pose
 
     @staticmethod
-    def _get_time_bw_poses(pose0, pose1, velocity=0.2):
+    def _get_time_bw_poses(pose0, pose1, pbd_arm_velocity):
         '''Determines how much time should be allowed for moving between
         pose0 and pose1 at velocity.