Address review comments

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclcpp/include/rclcpp/publisher_base.hpp

@@ -210,7 +210,6 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
  * This function waits until all published message data were acknowledged by all subscribers or
  * timeout.
  *
- * timeout must be less than std::chrono::nanoseconds::max().
  * If the timeout is negative then this function will block indefinitely until all published
  * message data were acknowledged.
  * If the timeout is 0 then this function will be non-blocking; checking all published message
@@ -219,14 +218,15 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
  * If the timeout is greater than 0 then this function will return after that period of time has
  * elapsed (return false) or all published message data were acknowledged (return true).
  *
- * This function only waits for acknowledgments if the publisher's QOS profile is RELIABLE.
+ * This function only waits for acknowledgments if the publisher's QoS profile is RELIABLE.
  * Otherwise this function will immediately return `true`.
  *
- * \param[in] timeout the duration to wait for all published message data were acknowledged.
- * \return `true` if all published message data were acknowledged before timeout, otherwise
- * `false`.
+ * \param[in] timeout the duration to wait for all published message data to be acknowledged.
+ * \return `true` if all published message data were acknowledged before the given timeout
+ * elapsed, otherwise `false`.
  * \throws rclcpp::exceptions::RCLError if middleware doesn't support or internal error occurs
- * \throws std::invalid_argument if timeout is greater than nanoseconds::max()
+ * \throws std::invalid_argument if timeout is greater than std::chrono::nanoseconds::max() or
+ * less than std::chrono::nanoseconds::min()
  */
  template<typename DurationRepT = int64_t, typename DurationT = std::milli>
  bool