diff --git a/README.md b/README.md
index 388750f7..ac34ab13 100644
--- a/README.md
+++ b/README.md
@@ -25,7 +25,7 @@ ROS 2 packages for the KUKA LBR, including communication to the real robot via t
 </body>
 
 ## Documentation
-Full documentation available [here](https://lbr-stack.readthedocs.io/en/latest).
+Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io/en/latest).
 
 ## Quick Start
 1. Install ROS 2 development tools
@@ -67,7 +67,7 @@ Full documentation available [here](https://lbr-stack.readthedocs.io/en/latest).
 > [!TIP]
 > List all arguments for the launch file via `ros2 launch lbr_bringup bringup.launch.py -s`
 
-Now, run the [demos](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Documentation](https://lbr-stack.readthedocs.io/en/latest) above.
+Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
 
 ## Citation
 If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support.
diff --git a/docker/doc/docker.rst b/docker/doc/docker.rst
index 1ef56d04..813bb07f 100644
--- a/docker/doc/docker.rst
+++ b/docker/doc/docker.rst
@@ -22,7 +22,7 @@ To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions
 
     cp -r src/lbr_fri_ros2_stack/docker/* .
     chmod +x container_build.sh
-    sudo ./container_build.sh 1.15 # replace by your FRI client version
+    sudo ./container_build.sh
 
 #. Inside the container, launch e.g. simulation via (might require re-launch after Gazebo launched first time)
 
diff --git a/lbr_demos/doc/lbr_demos.rst b/lbr_demos/doc/lbr_demos.rst
index b1845019..2b0eb131 100644
--- a/lbr_demos/doc/lbr_demos.rst
+++ b/lbr_demos/doc/lbr_demos.rst
@@ -1,6 +1,6 @@
 lbr_demos
 =========
-Contolling the LBR through ROS 2 control.
+Contolling the LBR through ``ros2_control``.
 
 .. note::
     Some demos require a real robot. Make sure you followed :doc:`Hardware Setup <../../lbr_fri_ros2_stack/doc/hardware_setup>` first.
diff --git a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
index e870f26f..06e86293 100644
--- a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
+++ b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst
@@ -27,7 +27,7 @@ Admittance Controller
 
     .. code-block:: bash    
     
-        ros2 run lbr_demos_a    dvanced_cpp admittance_control --ros-args \
+        ros2 run lbr_demos_advanced_cpp admittance_control --ros-args \
             -r __ns:=/lbr \
             --params-file `ros2 pkg prefix lbr_demos_advanced_cpp`/share/lbr_demos_advanced_cpp/config/admittance_control.yaml
 
diff --git a/lbr_fri_ros2/doc/lbr_fri_ros2.rst b/lbr_fri_ros2/doc/lbr_fri_ros2.rst
index 2dfd4b25..b151807d 100644
--- a/lbr_fri_ros2/doc/lbr_fri_ros2.rst
+++ b/lbr_fri_ros2/doc/lbr_fri_ros2.rst
@@ -16,9 +16,9 @@ The ``lbr_fri_ros2`` package extends the FRI with:
 #. :lbr_fri_ros2:`AsyncClient <lbr_fri_ros2::AsyncClient>` for asynchronous communication to the hardware
 #. :lbr_fri_ros2:`App <lbr_fri_ros2::App>` for running the :lbr_fri_ros2:`AsyncClient <lbr_fri_ros2::AsyncClient>` asynchronously
 
-An overview of the software architecture is shown :ref:`below <software architecture figure>`:
+The software architecture is shown :ref:`below <lbr_fri_ros2 software architecture figure>` (click to expand):
 
-.. _software architecture figure:
+.. _lbr_fri_ros2 software architecture figure:
 .. thumbnail:: img/lbr_fri_ros2_v1.5.0.svg
     :alt: lbr_fri_ros2
 
diff --git a/lbr_ros2_control/doc/lbr_ros2_control.rst b/lbr_ros2_control/doc/lbr_ros2_control.rst
index e6b88078..170e0ca6 100644
--- a/lbr_ros2_control/doc/lbr_ros2_control.rst
+++ b/lbr_ros2_control/doc/lbr_ros2_control.rst
@@ -1,2 +1,24 @@
 lbr_ros2_control
 ================
+.. note::
+
+    - This package builds on top of :ref:`lbr_fri_ros2`
+    - For demo usage refer to :ref:`lbr_demos`
+    - Refer to `ros2_control <https://control.ros.org/humble/index.html>`_ for additional documentation
+
+Relation to ros2_control
+------------------------
+The ``ros2_control`` relation is shown :ref:`below <lbr_ros2_control software architecture figure>` (click to expand):
+
+.. _lbr_ros2_control software architecture figure:
+.. thumbnail:: img/lbr_ros2_control_v1.5.0.svg
+    :alt: lbr_ros2_control
+
+
+
+
+async etc
+controller manager
+system interface
+controllers
+lbr_fri_ros2