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