docs: polish the user guides

Author: YufanFang

README.md

@@ -174,7 +174,7 @@ This section is very important since all functions and features provided by rsli
 
 [Intro to parameters](doc/intro/parameter_intro.md)
 
-[Intro to hiding parameters](doc/intro/hiding_parameters_intro.md)
+[Intro to hidden parameters](doc/intro/hiding_parameters_intro.md)
 
 
 
@@ -192,7 +192,7 @@ The following documents are some quick guides for using some of the most common
 
 ## 7 Advanced
 
-[Use protobuf send & receive](doc/howto/how_to_use_protobuf_function.md)
+[Send & Receive via Protobuf](doc/howto/how_to_use_protobuf_function.md)
 
 [Multi-LiDARs](doc/howto/how_to_use_multi_lidars.md)
 

doc/intro/hiding_parameters_intro.md

@@ -1,6 +1,6 @@
-# Introduction to hiding parameters
+# Introduction to hidden parameters
 
-In order to make the config file as simple as possible, we hide some of the parameters and give them a default value in the program. This document show you the use of those hiding parameters and you can decide whether to add them back or not. 
+In order to make the config file as simple as possible, we selectively hide some of the parameters and give them a default value in the program. If not added to  ```config.yaml```, the default values will be used. This document explains the meanings of these these hidden parameters. 
 
 
 
@@ -55,13 +55,13 @@ lidar:
 
 - ```angle_path``` -- The path of the angle.csv. For latest version of LiDARs, this parameter can be ignored.
 - ```split_frame_mode``` -- The mode to split the LiDAR frames. Default value is ```1```.
-  - 1 -- Spliting frames depends on the cut_angle
-  - 2 -- Spliting frames depends on a fixed number of packets
-  - 3 -- Spliting frames depends on num_pkts_split
+  - 1 -- Spliting frames depending on the cut_angle
+  - 2 -- Spliting frames depending on a fixed number of packets
+  - 3 -- Spliting frames depending on num_pkts_split
 - ```cut_angle``` --  The angle(degree) to split frames. Only be used when ```split_frame_mode = 1```. The default value is ```0```.
 - ```num_pkts_split``` -- The number of packets in one frame. Only be used when ```split_frame_mode = 3```.
 - ```wait_for_difop``` -- If set to false, the driver will not wait for difop packet and send out the point cloud immediately. The default value is ```true```.
 - ```saved_by_rows``` --  The default point cloud is stored in **column major order**, which means if there is  a point msg.point_cloud_ptr->at(i) , the next point on the same ring should be msg.point_cloud_ptr->at(i+msg.height). If this parameter is set to  ```true``` , the point cloud will be stored in **row major order**.
 - ```multi_cast_address``` -- If use multi-cast function, this parameter need to be set correctly. For more details, please refer to  [Multi-Cast](../howto/how_to_use_multi_cast_function.md) 
 
-- ```x, y, z, roll, pitch, yaw ``` -- The parameters to do cooridiante transformation. If the coordinate transformation function is enabled in driver core,  the output point cloud will be auto transformed based on these parameters. For more details, please refer to [Coordinate Transformation](../howto/how_to_use_coordinate_transformation.md) 
+- ```x, y, z, roll, pitch, yaw ``` -- The parameters to do cooridiante transformation. If the coordinate transformation function is enabled in driver core,  the output point cloud will be transformed based on these parameters. For more details, please refer to [Coordinate Transformation](../howto/how_to_use_coordinate_transformation.md) 

doc/intro/parameter_intro.md

@@ -1,14 +1,16 @@
 # Parameters Introduction
 
-There is only one configure file ```config.yaml```, which is stored in ```rslidar_sdk/config```.  The config.yaml can be divided into two parts, the common part  and the lidar part . *In multi-LiDARs case, the parameters in common part will be shared by all LiDARs, while the parameters in lidar part need to be adjust for each LiDAR.*
+There is only one configure file ```config.yaml```, which is stored in ```rslidar_sdk/config```.  The ```config.yaml``` can be divided into two parts, the common part  and the lidar part . 
 
-**The config.yaml is very strict to indentation! Please make sure the indentation is not changed when adjusting the parameters!**
+*In multi-LiDARs case, the parameters in common part will be shared by all LiDARs, while the parameters in lidar part need to be adjust for each LiDAR.*
+
+**config.yaml is indentation sensitive! Please make sure the indentation is not changed when adjusting the parameters!**
 
 
 
 ## 1 Common
 
-This part is used to decide the source of LiDAR data, and whether to send out the result or not.
+This part is used to decide the source of LiDAR data, and whether to publish point clouds or not.
 
 ```yaml
 common:
@@ -39,8 +41,7 @@ common:
    - true -- The lidar packets will be sent to ROS or ROS2. 
 
    
-
-*Since the ROS packet message type is robosense self-defined type, you can't directly echo the topic through ROS. Mostly the packets are only used to record offline bag because the size is much smaller than point cloud.*
+*Since the ROS packet message is of a customized message type, you can't directly echo the topic through ROS. Mostly the packets are only used to record offline bag because the size is much smaller than point cloud.*
 
 - send_point_cloud_ros
 
@@ -58,7 +59,7 @@ common:
    - true -- The lidar point cloud will be sent out as protobuf message through ethernet in UDP protocal. 
    
 
-*We suggest sending packets through ethernet by protobuf rather than point cloud because point cloud size is too larger and it may take up a lot of bandwidth.*
+*We suggest sending packets rather than point clouds through ethernet by protobuf  because point cloud size is too large which may take up a lot of bandwidth.*
 
 - pcap_path
 
@@ -68,7 +69,7 @@ common:
 
 ## 2 lidar
 
-This part need to be adjust according to different LiDAR (in multi-LiDARs case). 
+This part needs to be adjusted for every LiDAR seperately (in multi-LiDARs case). 
 
 ```yaml
 lidar:
@@ -126,9 +127,9 @@ lidar:
 
 ## 3 Example
 
-Here are two example configure files for one LiDAR and three LiDAR configure files. Please adjust the specific parameters according to your own case.
+Here are two examples. The first configure file is for single LiDAR case and second is used for the case where there are 3 LiDARs. Please adjust the specific parameters according to your own case.
 
-- Online connect one LiDAR & Send point cloud to ROS
+- Online connection to single LiDAR & Send point cloud to ROS
 
 ```yaml
 common:
@@ -164,7 +165,7 @@ lidar:
       packet_send_ip: 127.0.0.1                
 ```
 
-- Online connect three LiDARs & Send point cloud to ROS
+- Online connection to three LiDARs & Send point cloud to ROS
 
 *Pay attention to the indentation of lidar part*