diff --git a/localization/ekf_localizer/schema/sub/node.sub_schema.json b/localization/ekf_localizer/schema/sub/node.sub_schema.json
index 537fcef452fbf..faab80573d9ad 100644
--- a/localization/ekf_localizer/schema/sub/node.sub_schema.json
+++ b/localization/ekf_localizer/schema/sub/node.sub_schema.json
@@ -7,32 +7,32 @@
             "properties": {
                 "show_debug_info": {
                     "type": "boolean",
-                    "description": "Displays debug information if set to true",
+                    "description": "Flag to display debug info",
                     "default": false
                 },
                 "predict_frequency": {
                     "type": "number",
-                    "description": "Frequency of prediction cycles for filtering and publishing [Hz]",
+                    "description": "Frequency for filtering and publishing [Hz]",
                     "default": 50.0
                 },
                 "tf_rate": {
                     "type": "number",
-                    "description": "Frequency at which transform frames are published [Hz]",
+                    "description": "Frequency for tf broadcasting [Hz]",
                     "default": 50.0
                 },
                 "publish_tf": {
                     "type": "boolean",
-                    "description": "Determines whether transform frames are published",
+                    "description": "Whether to publish tf",
                     "default": true
                 },
                 "extend_state_step": {
                     "type": "integer",
-                    "description": "Number of max delay steps which can be dealt with in EKF. Large number increases computational cost.",
+                    "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
                     "default": 50
                 },
                 "enable_yaw_bias_estimation": {
                     "type": "boolean",
-                    "description": "Enables yaw bias estimation.",
+                    "description": "Flag to enable yaw bias estimation",
                     "default": true
                 }
             },
diff --git a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json
index a323b6e76e9c5..2a6699a768123 100644
--- a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json
+++ b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json
@@ -7,17 +7,17 @@
             "properties": {
                 "pose_additional_delay": {
                     "type": "number",
-                    "description": "Additional delay for pose measurements [s]",
+                    "description": "Additional delay time for pose measurement [s]",
                     "default": 0.0
                 },
                 "pose_measure_uncertainty_time": {
                     "type": "number",
-                    "description": "Time uncertainty for covariance calculation [s]",
+                    "description": "Measured time uncertainty used for covariance calculation [s]",
                     "default": 0.01
                 },
                 "pose_smoothing_steps": {
                     "type": "integer",
-                    "description": "Number of steps for pose smoothing",
+                    "description": "A value for smoothing steps",
                     "default": 5
                 },
                 "pose_gate_dist": {
diff --git a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json
index 47212573c08a1..cfaa7edfb3155 100644
--- a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json
+++ b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json
@@ -7,12 +7,12 @@
             "properties": {
                 "twist_additional_delay": {
                     "type": "number",
-                    "description": "Additional delay for twist calculation [s]",
+                    "description": "Additional delay time for twist [s]",
                     "default": 0.0
                 },
                 "twist_smoothing_steps": {
                     "type": "integer",
-                    "description": "Number of steps for twist smoothing",
+                    "description": "A value for smoothing steps",
                     "default": 2
                 },
                 "twist_gate_dist": {