diff --git a/pluginlib/CHANGELOG.rst b/pluginlib/CHANGELOG.rst
index d0477f72..6d125eb9 100644
--- a/pluginlib/CHANGELOG.rst
+++ b/pluginlib/CHANGELOG.rst
@@ -149,7 +149,7 @@ Changelog for package pluginlib
 * remove extra semicolon to fix pedantic warning (`#103 <https://github.com/ros/pluginlib/issues/103>`_)
 * use new class_loader header names (`#99 <https://github.com/ros/pluginlib/issues/99>`_)
 * adjust library search to work on windows, warn about lib prefix (`#97 <https://github.com/ros/pluginlib/issues/97>`_)
-* vs2015 doesnt support __has_include, VS2015 and 2017 have both <files… (`#96 <https://github.com/ros/pluginlib/issues/96>`_)
+* vs2015 doesn't support __has_include, VS2015 and 2017 have both <files… (`#96 <https://github.com/ros/pluginlib/issues/96>`_)
 * move pluginlib in its own folder (port 83 to ros2 branch) (`#95 <https://github.com/ros/pluginlib/issues/95>`_)
 * Contributors: Mikael Arguedas, William Woodall, jerry73204
 
@@ -416,7 +416,7 @@ Changelog for package pluginlib
 * fixed tinyxml
 * converting to unary stack (separated from common)
 * applied patch from 4923, to support boost 1.46
-* patch from Nick Butko osx compatability
+* patch from Nick Butko osx compatibility
 * adding unittest melonee forgot to commit
 * adding pluginlib tests
 * patch for osx linking `#4094 <https://github.com/ros/pluginlib/issues/4094>`_
@@ -431,7 +431,7 @@ Changelog for package pluginlib
 * adding warning about deprecated macro PLUGINLIB_REGISTER_CLASS
 * pluginlib now takes pkg/type arguments, new macro PLUGINLIB_DECLARE_CLASS
 * pluginlib now robust to malformed manifests
-* Adding more descriptive error messages when libaries fail to load
+* Adding more descriptive error messages when libraries fail to load
 * Remove use of deprecated rosbuild macros
 * doc review completed http://www.ros.org/wiki/pluginlib/Reviews/2009-10-06_Doc_Review
 * fixing documentation link
diff --git a/pluginlib/cmake/pluginlib_enable_plugin_testing.cmake b/pluginlib/cmake/pluginlib_enable_plugin_testing.cmake
index 8d1a1bc4..54ffc460 100644
--- a/pluginlib/cmake/pluginlib_enable_plugin_testing.cmake
+++ b/pluginlib/cmake/pluginlib_enable_plugin_testing.cmake
@@ -19,7 +19,7 @@ set(PLUGINLIB_ENABLE_PLUGIN_TESTING_DIR "${CMAKE_CURRENT_LIST_DIR}")
 # Enable testing plugins by mock-installing needed files to the build folder.
 #
 # Pluginlib needs a certain folder structure in the ament_index to recognize
-# the existance of a package and its exported plugins.
+# the existence of a package and its exported plugins.
 # This structure must exist at test time in order for unit tests to load
 # plugins.
 # The macro `pluginlib_export_plugin_description_file()` sets up this structure
@@ -143,7 +143,7 @@ function(pluginlib_enable_plugin_testing)
   list(APPEND input_content "")
   list(APPEND output_files "${fake_install_dir}/package.xml")
 
-  # Add blank file indicating existance of package in the ament index
+  # Add blank file indicating existence of package in the ament index
   list(APPEND input_files "")
   list(APPEND input_content "")
   list(APPEND output_files "${prefix}/share/ament_index/resource_index/packages/${ARG_PACKAGE_NAME}")
diff --git a/pluginlib/include/pluginlib/class_loader.hpp b/pluginlib/include/pluginlib/class_loader.hpp
index 10ab694a..c2824f3e 100644
--- a/pluginlib/include/pluginlib/class_loader.hpp
+++ b/pluginlib/include/pluginlib/class_loader.hpp
@@ -107,7 +107,7 @@ class ClassLoader : public ClassLoaderBase
   /**
    * Implicitly calls loadLibraryForClass() to increment the library counter.
    *
-   * \attention The ownership is transfered to the caller, which is responsible
+   * \attention The ownership is transferred to the caller, which is responsible
    *   for deleting the instance and calling unloadLibraryForClass()
    *   (in order to decrement the associated library counter and unloading it
    *   if it is no more used).
@@ -275,7 +275,7 @@ class ClassLoader : public ClassLoaderBase
   /// Get the package name from a path to a plugin XML file.
   std::string getPackageFromPluginXMLFilePath(const std::string & path);
 
-  /// Join two filesystem paths together utilzing appropriate path separator.
+  /// Join two filesystem paths together utilizing appropriate path separator.
   std::string joinPaths(const std::string & path1, const std::string & path2);
 
   /// Parse a plugin XML file.
diff --git a/pluginlib/include/pluginlib/class_loader_imp.hpp b/pluginlib/include/pluginlib/class_loader_imp.hpp
index 49b8c13c..149d1cef 100644
--- a/pluginlib/include/pluginlib/class_loader_imp.hpp
+++ b/pluginlib/include/pluginlib/class_loader_imp.hpp
@@ -674,7 +674,7 @@ void ClassLoader<T>::processSingleXMLPluginFile(
     std::string library_path(path);
     if (0 == library_path.size()) {
       RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
-        "Failed to find Path Attirbute in library element in %s", xml_file.c_str());
+        "Failed to find Path Attribute in library element in %s", xml_file.c_str());
       continue;
     }