diff --git a/doc/DDSI-RTPS_2-5.pdf b/doc/DDSI-RTPS_2-5.pdf
new file mode 100644
index 0000000..7f742a2
--- /dev/null
+++ b/doc/DDSI-RTPS_2-5.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f14ae1299f0afa74d790cba4272ede907e5ba007a206b3f722eefabd6e8be0
+size 7091421
diff --git a/doc/DDSI-RTPS_2-5_diff.pdf b/doc/DDSI-RTPS_2-5_diff.pdf
new file mode 100644
index 0000000..2b8a3c2
--- /dev/null
+++ b/doc/DDSI-RTPS_2-5_diff.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0adea9a8ce7a26dc5fdbe06ef3cb51ae8c94fb814d3c977dc051f1c2aa62579
+size 10705431
diff --git a/src/ASCII.txt b/src/ASCII.txt
index 043e125..7daa1cc 100644
--- a/src/ASCII.txt
+++ b/src/ASCII.txt
@@ -4,9 +4,24 @@
 |DDS Writer|->|History Cache|->|RTPS Writer|<-->|RTPS Reader|->|History Cache|->|DDS Reader|
 +----------+  +-------------+  +-----------+    +-----------+  +-------------+  +----------+
 
+
 +----------+  +-----------+     +------------+    +------------+     +-----------+  +----------+
 |DDS Writer|->|RTPS Writer|<-+->|RTPS Handler|<-->|RTPS Handler|<-+->|RTPS Reader|->|DDS Reader|
 +----------+  +-----------+  |  +------------+    +------------+  |  +-----------+  +----------+
     +---------------------+  |                                    |  +---------------------+
     |RTPS Builtin Endpoint|<-+                                    +->|RTPS Builtin Endpoint|
-    +---------------------+                                          +---------------------+
\ No newline at end of file
+    +---------------------+                                          +---------------------+
+
+    
++----------+  +-----------+       +------------+    +------------+       +-----------+  +----------+
+|          |  |           |<-+----|RTPS Handler|<---|  RTPS OUT  |<-+----|           |  |          |
+|DDS Writer|->|RTPS Writer|  |    +------------+    +------------+  |    |RTPS Reader|->|DDS Reader|
+|          |  |           |--|-+                                    | +->|           |  |          |
++----------+  +-----------+  | |                                    | |  +-----------+  +----------+
+    +---------------------+  | |                                    | |  +---------------------+
+    |                     |<-+ |                                    +-|--|                     |
+    |RTPS Builtin Endpoint|    |  +------------+    +------------+    |  |RTPS Builtin Endpoint|
+    |                     |----+->|  RTPS OUT  |--->|RTPS Handler|----+->|                     |
+    +---------------------+       +------------+    +------------+       +---------------------+
+
+TODO: RTPS Reader/Writer and RTPS Builtin Endpoint Interconnection
\ No newline at end of file
diff --git a/src/TODO.txt b/src/TODO.txt
index 23b89b0..e28d741 100644
--- a/src/TODO.txt
+++ b/src/TODO.txt
@@ -209,7 +209,7 @@ DESIGN DECISIONS
     matched local endpoints. This decision was reverted, and we just sent MATCH frames to the currently 
     matched local endpoints (non depending on if they are already matched) and UNMATCH frames to the 
     rest of the local endpoints (non depending on if they were previously matched).
-    So we basically push the responsibility to the local endpoints, which have to handle this situations 
+    So we basically push the responsibility to the local endpoints, which have to handle these situations 
     accordingly. Since META traffic is not supposed to be generated as often, this should not produce 
     any significant overhead. As optimization, on new matched remote endpoints UNMATCH frames can be 
     ignored.
diff --git a/src/Tests/Level_0/L0_rtps_out_test1.vhd b/src/Tests/Level_0/L0_rtps_out_test1.vhd
index 2049f48..3a0ae0c 100644
--- a/src/Tests/Level_0/L0_rtps_out_test1.vhd
+++ b/src/Tests/Level_0/L0_rtps_out_test1.vhd
@@ -15,11 +15,11 @@ use work.rtps_test_package.all;
 -- Add 2 random sized packets to random input port t1. After t1 is beginning being processed add 2 random sized packets to a random input port t2 that is after the t1 input port,
 -- and add 2 random sized packets to a random input port t3 that is before the t1 input port. The packets should come in order : t1p1, t2p1, t3p1, t1p2, t2p2, t3p2.
 -- TEST 2
--- Add 4 packets with sizes 4-Bytes, 3-Bytes, 2-Bytes, and 1-Bytes respectively to the input port t1. Add a maximum size packet at input port t2, and a oversized (over maximum size)
+-- Add 4 packets with sizes 4-Bytes, 3-Bytes, 2-Bytes, and 1-Bytes respectively to the input port t1. Add a maximum size packet at input port t2, and an oversized (over maximum size)
 -- at input port t3. The expected order should be: t1p1, t2p1. 
 -- Note that during the beginning of this test the UUT should be processing input port t3.
 -- TEST 3
--- Add one random sized packet to each available input port. The expected order is: t1+1p1, t1+2p1,...,t1p1.
+-- Add one random sized packet to each available input port. The expected order is: (t1+1)p1, (t1+2)p1,...,t1p1.
 -- Note that during the beginning of this test the UUT should be processing input port t1.
 
 entity L0_rtps_out_test1 is
diff --git a/src/rtps_package.vhd b/src/rtps_package.vhd
index f018334..d69d5e5 100644
--- a/src/rtps_package.vhd
+++ b/src/rtps_package.vhd
@@ -58,7 +58,7 @@ package rtps_package is
     constant VIEW_STATE_KIND_WIDTH                  : natural := CDR_LONG_WIDTH;
     constant INSTANCE_STATE_KIND_WIDTH              : natural := CDR_LONG_WIDTH;
     constant QOS_POLICY_ID_WIDTH                    : natural := CDR_LONG_WIDTH;
-    constant MAX_SAMPLES_WIDTH                      : natural := CDR_LONG_WIDTH;
+    constant MAX_SAMPLES_WIDTH                      : natural := CDR_LONG_WIDTH; -- TODO: Not used. Needed?
     
     constant DISPOSED_GENERATION_COUNT_WIDTH        : natural := CDR_LONG_WIDTH;
     constant NO_WRITERS_GENERATION_COUNT_WIDTH      : natural := CDR_LONG_WIDTH;