doc: controller_chaining: Improved wording

Signed-off-by: Martin Pecka <[email protected]>

Author: peci1

controller_manager/doc/controller_chaining.rst

@@ -53,7 +53,7 @@ This means the following:
 
 .. note::
 
-  This document uses terms *preceding* and *following* controller. These terms refer to such ordering of controllers that controller A *precedes* controller B if A's output is connected to B's reference interface. In the example diagram at the beginning of this section, 'diff_drive_controller' *precedes* 'pid left wheel' and 'pid right wheel'. Consequently, 'pid left wheel' and 'pid right wheel' are controllers *following* after 'diff_drive_controller'.
+  This document uses terms *preceding* and *following* controller. These terms refer to such ordering of controllers that controller A *precedes* controller B if A claims (*connects its output to*) B's reference interfaces (*inputs*). In the example diagram at the beginning of this section, 'diff_drive_controller' *precedes* 'pid left wheel' and 'pid right wheel'. Consequently, 'pid left wheel' and 'pid right wheel' are controllers *following* after 'diff_drive_controller'.
 
 Implementation
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