update document readability

Signed-off-by: ismetatabay <[email protected]>

docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md

@@ -117,7 +117,10 @@ References:
 
 1. Calibration of sensor
 
-   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology. How to calibrating your sensors refer to this link [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors).
+   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology.
+   Please consult the following link
+   [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors) for instructions
+   on how to calibrate your sensors.
 
 2. Localization
 

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md

@@ -2,73 +2,52 @@
 
 ## Introduction
 
-In cases where there is more than one same vehicle, each vehicle has the same sensor kit,
-but they may require different sensor calibrations, so
-[individual_params](https://github.com/autowarefoundation/autoware_individual_params) package allows you
-to define customized sensor calibrations for different vehicles while using the same launch
-vehicles or varying calibration requirements.
+The [individual_params](https://github.com/autowarefoundation/autoware_individual_params) package is used
+to define customized sensor calibrations for different vehicles.
+It lets
+you define customized sensor calibrations for different vehicles
+while using the same launch files with the same sensor model.
 
 !!! Warning
 
     The "individual_params" package contains the calibration
     results for your sensor kit and overrides the default calibration results found in
     VEHICLE-ID_sensor_kit_description/config/ directory.
 
-We forked our autoware_individual_params repository
-at [creating autoware repositories](../../creating-your-autoware-meta-repository/creating-autoware-meta-repository.md) page step,
-(For example,
-we created [tutorial_vehicle_individual_params](https://github.com/leo-drive/tutorial_vehicle_individual_params) for our documentation vehicle at this step)
-please be sure `<YOUR-VEHICLE-NAME>_individual_params` repository is included in autoware like the directory below.
-Please create directory under the `config` directory with your vehicle id of your vehicle.
-(There will be one from the tutorial vehicle,
-so we will think 'tutorial_vehicle' as vehicle_id and vehicle_name)
-You need
-to create or copy [`imu_corrector.param.yaml`](https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/imu_corrector/config/imu_corrector.param.yaml),
-[`sensor_kit_calibration.yaml`](https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_description/config/sensor_kit_calibration.yaml) and [`sensors_calibration.yaml`](https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_description/config/sensors_calibration.yaml) files
-under the `config/<YOUR-VEHICLE-ID>/<YOUR-VEHICLE-NAME>_sensor_kit_launch/` directory.
-Then, individual params will override these original files.
+##Placing your `individual_parameters` repository inside Autoware
 
-```diff
-<YOUR-OWN-AUTOWARE-DIR>/
-  └─ src/
-       └─ param/
-            └─ <YOUR-VEHICLE-NAME>_individual_params/
-                 └─ individual_params/
-                    └─ config/
-                        ├─ default/
-+                       └─ <YOUR-VEHICLE-ID>/
-+                           └─ <YOUR-VEHICLE-NAME>_sensor_kit_launch/
-+                               ├─ imu_corrector.param.yaml
-+                               ├─ sensor_kit_calibration.yaml
-+                               └─ sensors_calibration.yaml
-```
+[Previously on this guide](../../creating-your-autoware-meta-repository/creating-autoware-meta-repository.md),
+we forked the `autoware_individual_params` repository
+to create a [tutorial_vehicle_individual_params](https://github.com/leo-drive/tutorial_vehicle_individual_params) repository
+which will be used as an example for this section of the guide.
+Your individual_parameters repository should be placed inside your Autoware folder following the same folder structure as the one shown below:
 
 ??? note "sample folder structure for [`tutorial_vehicle_individual_params`](https://github.com/leo-drive/tutorial_vehicle_individual_params)"
 
     ```diff
-    <YOUR-OWN-AUTOWARE-DIR>/
+      <YOUR-OWN-AUTOWARE-DIR>/
       └─ src/
-           └─ param/
-                └─ tutorial_vehicle_individual_params/
-                     └─ individual_params/
-                        └─ config/
-                            ├─ default/
-    +                       └─ tutorial_vehicle/
-    +                           └─ tutorial_vehicle_sensor_kit_launch/
-    +                               ├─ imu_corrector.param.yaml
-    +                               ├─ sensor_kit_calibration.yaml
-    +                               └─ sensors_calibration.yaml
+      └─ param/
+      └─ tutorial_vehicle_individual_params/
+      └─ individual_params/
+      └─ config/
+      ├─ default/
+    + └─ tutorial_vehicle/
+    +     └─ tutorial_vehicle_sensor_kit_launch/
+    +         ├─ imu_corrector.param.yaml
+    +         ├─ sensor_kit_calibration.yaml
+    +         └─ sensors_calibration.yaml
     ```
 
-After that, we need to build individual_params package:
+After that, we need to build our `individual_params` package:
 
 ```bash
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to individual_params
 ```
 
-Now we are ready to use Autoware with vehicle_id as an arguments.
-For example, if our vehicle is more than one,
-the autoware_individual_params structure should be like this:
+Now you are ready to use Autoware with a vehicle_id as an argument.
+For example, if you are several, similar vehicles with different sensor calibration requirements,
+your autoware_individual_params structure should look like this:
 
 ```diff
 individual_params/

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/index.md

@@ -4,19 +4,29 @@
 
 ### Sensor Model
 
-- **Purpose:** The sensor model includes the calibration (transformation) and launch files of the sensors used in the autonomous vehicle. This includes various sensors like LiDARs, cameras, radars, IMUs (Inertial Measurement Units), GPS units, etc.
-- **Importance:** Accurate sensor modeling is essential for perception tasks. True calibration values helps in understanding the environment by processing sensor data, such as detecting objects, estimating distances, and creating a 3D representation of the surroundings.
-- **Usage:** The sensor model is used in Autoware for launching sensors, their pipeline and describing calibration values.
+- **Purpose:** The sensor model includes the calibration (transformation) and launch files of the
+  sensors used in the autonomous vehicle.
+  This includes various sensors like LiDARs, cameras,
+  radars, IMUs (Inertial Measurement Units), GPS units, etc.
 
-- The sensor model (sensor kit) consists of three following packages:
+- **Importance:** Accurate sensor modeling is essential for perception tasks.
+  Precise calibration values help understand the environment by processing sensor data,
+  such as detecting objects, estimating distances,
+  and creating a 3D representation of the surroundings.
+
+- **Usage:** The sensor model is utilized in Autoware for launching sensors,
+  configuring their pipeline, and describing calibration values.
+
+- The sensor model (sensor kit) consists of the following three packages:
   - `common_sensor_launch`
-  - `<YOUR-VEHICLE-NAME>_sensor_kit_description`
-  - `<YOUR-VEHICLE-NAME>_sensor_kit_launch`
+  - `<YOUR_VEHICLE_NAME>_sensor_kit_description`
+  - `<YOUR_VEHICLE_NAME>_sensor_kit_launch`
 
-Please follow the [creating sensor model](./creating-sensor-model) page
-for creating your own individual sensor model.
+Please refer to the [creating sensor model](./creating-sensor-model) page
+for creating your individual sensor model.
 
-Here is the [sample_sensor_kit_launch](https://github.com/autowarefoundation/sample_sensor_kit_launch) package folder structure for autoware:
+For reference,
+here is the folder structure for the [sample_sensor_kit_launch](https://github.com/autowarefoundation/sample_sensor_kit_launch) package in Autoware:
 
 ```diff
 sample_sensor_kit_launch/
@@ -27,18 +37,23 @@ sample_sensor_kit_launch/
 
 ### Vehicle Model
 
-- **Purpose:** The vehicle model includes individual vehicle specifications with dimensions, 3D model of vehicle (.fbx or .dae format), etc.
+- **Purpose:** The vehicle model includes individual vehicle specifications with dimensions,
+  a 3D model of the vehicle (in .fbx or .dae format), etc.
+
 - **Importance:** An accurate vehicle model is crucial for motion planning and control.
-- **Usage:** The vehicle model is used in autoware for providing vehicle information for autoware, 3D model of vehicle, etc.
 
-- The sensor model (sensor kit) consists of three following packages:
-  - `<YOUR-VEHICLE-NAME>_vehicle_description`
-  - `<YOUR-VEHICLE-NAME>_vehicle_launch`
+- **Usage:** The vehicle model is employed in Autoware to provide vehicle information for Autoware,
+  including the 3D model of the vehicle.
+
+- The vehicle model comprises the following two packages:
+  - `<YOUR_VEHICLE_NAME>_vehicle_description`
+  - `<YOUR_VEHICLE_NAME>_vehicle_launch`
 
-Please follow the [creating vehicle model](./creating-vehicle-model) page
-for creating your own individual vehicle model.
+Please consult the [creating vehicle model](./creating-vehicle-model) page
+for creating your individual vehicle model.
 
-Here is the [sample_vehicle_launch](https://github.com/autowarefoundation/sample_vehicle_launch) package folder structure for autoware:
+As a reference,
+here is the folder structure for the [sample_vehicle_launch](https://github.com/autowarefoundation/sample_vehicle_launch) package in Autoware:
 
 ```diff
 sample_vehicle_launch/