diff --git a/migration/Eloquent.rst b/migration/Eloquent.rst
index 81d6fb3014..eb816eed54 100644
--- a/migration/Eloquent.rst
+++ b/migration/Eloquent.rst
@@ -41,8 +41,11 @@ New Plugins
 Many new behavior tree nodes were added.
 These behavior tree nodes are now BT plugins and dynamically loadable at run-time using behavior tree cpp v3.
 See ``nav2_behavior_tree`` for a full listing, or :ref:`plugins` for the current list of behavior tree plugins and their descriptions. 
-These plugins are set as default in the ``nav2_bt_navigator`` but may be overrided by the ``bt_plugins`` parameter to include your specific plugins.
+These plugins are set as default in the ``nav2_bt_navigator`` but may be overridden by the ``bt_plugins`` parameter to include your specific plugins.
 
+Original GitHub tickets:
+
+- `DistanceController <https://github.com/ros-planning/navigation2/pull/1699>`_
 
 Map Server Re-Work
 ******************
@@ -67,6 +70,6 @@ New particle filter messages for particle clouds were added to include the parti
 ``nav2_msgs/Particle`` defines a single particle with a pose and a weight in a particle cloud.
 ``nav2_msgs/ParticleCloud`` defines a set of particles, each with a pose and a weight.
 
-``AMCL`` now publishes the its particle cloud as a ``nav2_msgs/ParticleCloud`` instead of a ``geometry_msgs/PoseArray``.
+``AMCL`` now publishes its particle cloud as a ``nav2_msgs/ParticleCloud`` instead of a ``geometry_msgs/PoseArray``.
 
 `See here for more information. <https://github.com/ros-planning/navigation2/pull/1677>`_
diff --git a/plugins/index.rst b/plugins/index.rst
index e20a83a178..563607104b 100644
--- a/plugins/index.rst
+++ b/plugins/index.rst
@@ -165,7 +165,7 @@ Behavior Tree Nodes
 |                                    |                    | transformation is      |
 |                                    |                    | available. When        |
 |                                    |                    | succeeds returns       |
-|                                    |                    | sucess for subsequent  |
+|                                    |                    | success for subsequent |
 |                                    |                    | calls.                 |
 +------------------------------------+--------------------+------------------------+
 
@@ -174,14 +174,18 @@ Behavior Tree Nodes
 .. _Is Stuck Condition: https://github.com/ros-planning/navigation2/tree/master/nav2_recoveries/plugins
 .. _Transform Available Condition: https://github.com/ros-planning/navigation2/tree/master/nav2_recoveries/plugins
 
-+-----------------------+-------------------+----------------------------------+
-| Decorator Plugin Name |    Creator        |       Description                |
-+=======================+===================+==================================+
-| `Rate Controller`_    | Michael Jeronimo  | Throttles child node to a given  |
-|                       |                   | rate                             |
-+-----------------------+-------------------+----------------------------------+
++--------------------------+-------------------+----------------------------------+
+| Decorator Plugin Name    |    Creator        |       Description                |
++==========================+===================+==================================+
+| `Rate Controller`_       | Michael Jeronimo  | Throttles child node to a given  |
+|                          |                   | rate                             |
++--------------------------+-------------------+----------------------------------+
+| `Distance Controller`_   | Sarthak Mittal    | Ticks child node based on the    |
+|                          |                   | distance traveled by the robot   |
++--------------------------+-------------------+----------------------------------+
 
 .. _Rate Controller: https://github.com/ros-planning/navigation2/tree/master/nav2_recoveries/plugins
+.. _Distance Controller: https://github.com/ros-planning/navigation2/tree/master/nav2_recoveries/plugins
 
 +-----------------------+------------------------+----------------------------------+
 | Control Plugin Name   |         Creator        |       Description                |