diff --git a/interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/slate_base.hpp b/interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/slate_base.hpp
index 02e6f1a..8cd3353 100644
--- a/interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/slate_base.hpp
+++ b/interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/slate_base.hpp
@@ -103,7 +103,7 @@ class SlateBase : public rclcpp::Node
   rclcpp::Service<SetBool>::SharedPtr srv_motor_torque_status_;
 
   // Set charge enable service server
-  rclcpp::Service<SetBool>::SharedPtr srv_enable_charing_;
+  rclcpp::Service<SetBool>::SharedPtr srv_enable_charging_;
 
   // Set light state service server
   rclcpp::Service<SetLightState>::SharedPtr srv_set_light_state_;
@@ -205,13 +205,13 @@ class SlateBase : public rclcpp::Node
     const std::shared_ptr<SetBool::Response> res);
 
   /**
-   * @brief Process incoming enable charing service request
+   * @brief Process incoming enable charging service request
    * @param request_header Incoming RMW request identifier
-   * @param req Service request containing desired charing enable status
+   * @param req Service request containing desired charging enable status
    * @param res[out] Service response containing a success indication and a message
    * @return true if service succeeded, false otherwise
    */
-  bool enable_charing_callback(
+  bool enable_charging_callback(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<SetBool::Request> req,
     const std::shared_ptr<SetBool::Response> res);
diff --git a/interbotix_ros_slate/interbotix_slate_driver/src/slate_base.cpp b/interbotix_ros_slate/interbotix_slate_driver/src/slate_base.cpp
index ae33edf..90da2f2 100644
--- a/interbotix_ros_slate/interbotix_slate_driver/src/slate_base.cpp
+++ b/interbotix_ros_slate/interbotix_slate_driver/src/slate_base.cpp
@@ -68,9 +68,9 @@ SlateBase::SlateBase(const rclcpp::NodeOptions & options)
     "set_motor_torque_status",
     std::bind(&SlateBase::motor_torque_status_callback, this, _1, _2, _3));
 
-  srv_enable_charing_ = create_service<SetBool>(
+  srv_enable_charging_ = create_service<SetBool>(
     "enable_charging",
-    std::bind(&SlateBase::enable_charing_callback, this, _1, _2, _3));
+    std::bind(&SlateBase::enable_charging_callback, this, _1, _2, _3));
 
   srv_set_light_state_ = create_service<SetLightState>(
     "set_light_state",
@@ -227,7 +227,7 @@ bool SlateBase::motor_torque_status_callback(
   return res->success;
 }
 
-bool SlateBase::enable_charing_callback(
+bool SlateBase::enable_charging_callback(
   const std::shared_ptr<rmw_request_id_t>/*request_header*/,
   const std::shared_ptr<SetBool::Request> req,
   const std::shared_ptr<SetBool::Response> res)