minor updates to LP1 references

content/learning-paths/cross-platform/distributed-ros2-zenoh-lp2/1-understand-the-topology.md

@@ -9,7 +9,7 @@ layout: learningpathall
 
 ## Introduction
 
-The [prerequisite Learning Path](https://learn.arm.com/learning-paths/cross-platform/ros2-zenoh-arm/) in this series placed the complete ROS 2 system on one server. A real robot deployment is different: the operator station can be elsewhere, sensor nodes can run on separate devices, and the monitoring display can be on a laptop.
+The [prerequisite Learning Path](/learning-paths/cross-platform/ros2-zenoh-arm/) in this series placed the complete ROS 2 system on one server. A real robot deployment is different: the operator station can be elsewhere, sensor nodhes can run on separate devices, and the monitoring display can be on a laptop.
 
 This Learning Path distributes the system in three stages:
 
@@ -26,7 +26,7 @@ Both the server and the Pi run the same arm64 ROS 2 packages. The development ma
 ### The Zenoh router has four roles
 
 1. **Configuration entry point** — it reads `ROUTER_CONFIG.json5` once at startup. Any configuration change requires a router restart.
-2. **Discovery service for local peers** — it introduces nodes to each other, after which they communicate directly. Step 3 of the [prerequisite Learning Path](https://learn.arm.com/learning-paths/cross-platform/ros2-zenoh-arm/) demonstrated this: stopping the router did not interrupt an established conversation.
+2. **Discovery service for local peers** — it introduces nodes to each other, after which they communicate directly. Step 3 of the [prerequisite Learning Path](/learning-paths/cross-platform/ros2-zenoh-arm/) demonstrated this: stopping the router did not interrupt an established conversation.
 3. **Relay for client-mode nodes** — a client holds a single connection to the router, and every message it sends or receives passes through that connection.
 4. **Traffic policy enforcement point** — compression, access control, downsampling, and QoS rules all apply here. A later Learning Path covers these policies.
 
@@ -41,7 +41,7 @@ Router count follows subsystems, not machines. A remote side running only a few
 You can read more about the topology in the [`rmw_zenoh` documentation](https://github.com/ros2/rmw_zenoh#connecting-multiple-hosts).
 
 {{% notice Warning %}}
-This Learning Path begins with the completed environment from the [prerequisite Learning Path](https://learn.arm.com/learning-paths/cross-platform/ros2-zenoh-arm/). Before you continue, ensure both containers are still running and `/scan` delivers messages at a stable non-zero rate.
+This Learning Path begins with the completed environment from the [prerequisite Learning Path](/learning-paths/cross-platform/ros2-zenoh-arm/). Before you continue, ensure both containers are still running and `/scan` delivers messages at a stable non-zero rate.
 {{% /notice %}}
 
 ## What you've learned and what's next

content/learning-paths/cross-platform/distributed-ros2-zenoh-lp2/_index.md

@@ -18,7 +18,7 @@ learning_objectives:
     - Verify ROS 2 sensor data and messages flowing in both directions between the server and Raspberry Pi
 
 prerequisites:
-    - Complete the [containerized ROS 2 and Zenoh Learning Path](https://learn.arm.com/learning-paths/cross-platform/ros2-zenoh-arm/), with the `robot` container running the Zenoh router and ROX simulation
+    - Complete the [Build a ROS 2 and Zenoh simulation environment on an Arm server](/learning-paths/cross-platform/ros2-zenoh-arm/) learning path, with the `robot` container running the Zenoh router and ROX simulation
     - A Raspberry Pi 4 or Raspberry Pi 5 (16 GB SD card or larger), aarch64, on the same network as the server
     - Familiarity with ROS 2 topics, Docker, and basic Linux command-line operations