Updates to documentation

src/v2i-hub/MUSTSensorDriverPlugin/README.md

@@ -2,7 +2,7 @@
 
 ## Introduction
 
-MUST (Mobile Unit for Sensing Traffic) Sensor is from AI Waysion described in more detail [here](https://www.aiwaysion.com/technology).This is a camera based sensor that is planned to be used for cooperative perception in freight use cases.<Some sentence about what ever university is developing the detection algorythms for this sensor>. The MUST Sensor provides detections via UDP packets made up of CSV (Comma Separated Values) string data. The V2X-Hub MUST Sensor Driver Plugin will then consume these messages and translate them to **Sensor Detected Object** messages, which is V2X-Hub's generic detection message. This message is consumable by the **CARMA Streets Sensor Data Sharing Service** which will generate **Sensor Data Sharing Message**s according to the J3224 standard for broadcast to other traffic actors in the area.
+[MUST](https://www.aiwaysion.com/technology) (Mobile Unit for Sensing Traffic) Sensor from AI Waysion is a camera based sensor, planned to be used for cooperative perception in freight use cases.<Some sentence about what ever university is developing the detection algorythms for this sensor>. The MUST Sensor provides detections via UDP packets made up of CSV (Comma Separated Values) string data. The V2X-Hub MUST Sensor Driver Plugin will then consume these messages and translate them to **Sensor Detected Object** messages, which is V2X-Hub's generic detection message. This message is consumable by the  **CARMA Streets [Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** which will generate **Sensor Data Sharing Message**s according to the J3224 standard for broadcast to other traffic actors in the area.
 
 ## Related Plugins
 
@@ -14,17 +14,17 @@ For RSU Immediate Message Forwarding (IMF) functionality forward SDSMs (Sensor D
 
 ### CARMA Streets Plugin
 
-For forwarding detection data (SensorDetectedObject) to **Sensor Data Sharing Service** for creation of SDSMs.
+For forwarding detection data (SensorDetectedObject) to **[Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** for creation of SDSMs.
 
 ## Configuration/Deployment
 
-This plugin has several configuration parameters. Below these are listed out as together with descriptions on how to set them
+This plugin has several configuration parameters. Below these are listed out as together with descriptions on how to set them.
 
-**DetectionReceiverIp**: This is the IP address on which V2X-Hub will listen for detections. In most scenarios this can be left at default since 127.0.0.1 should resolve to the IP address of V2X-Hub. 
+**DetectionReceiverIp**: This is the IP address on which V2X-Hub will listen for detections. In most scenarios this can be left at default since 127.0.0.1 should resolve to the IP address of V2X-Hub.
 
 **DetectionReceiverPort**: This is the Port on which V2X-Hub will list for detection. In most scenarios this can be left at default as well. The MUST Sensor must be configured to broadcast it's detection information to the configured IP and Port.
 
-**SensorId**: This is a unique string identifier for this sensor. Multiple instances of MUST Sensors can be connected via multiple instance of this plugin. Additionally other sensor can also be connected to V2X-Hub conccurently. For cooperative perception functionality to work correctly, each of thes sensor must have a unique string identifier.
+**SensorId**: This is a unique string identifier for this sensor. Multiple instances of MUST Sensors can be connected via multiple instances of this plugin. Additionally other sensors can also be connected to V2X-Hub conccurently. For cooperative perception functionality to work correctly, each of these sensors must have a unique string identifier.
 
 > [!NOTE]
 > V2X-Hub currently has no mechanism by which to verify that all configured sensors have unique string indentifies. Currently this can only be verified via manual inspection.
@@ -39,7 +39,9 @@ After setting these configuration parameters the plugin can simply be enabled.
 ## Design
 
 ![Alt text](docs/communication_diagram.png)
-This plugin consists of a simple UDP Server listening for detection data from the MUST Sensor. Each received detection is deserialized and translated to **Sensor Detected Object** data via free functions. Then this **Sensor Detected Object** is forward on the TMX Message bus. If enabled, the **CARMA Streets Plugin** will receive this message forward it to the **CARMA Streets [Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** which is responsible for generating SDSMs from detection data. These SDSMs are sent back to V2X-Hub for broadcast to vehicle's via the RSU (Road Side Unit).
+This plugin consists of a simple UDP Server listening for detection data from the MUST Sensor. Each received detection is deserialized and translated to a **Sensor Detected Object** message. Then this **Sensor Detected Object** message is forward on the TMX Message bus. If enabled, the **CARMA Streets Plugin** will receive this message, forward it to the **CARMA Streets [Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** which is responsible for generating SDSMs from detection data. These SDSMs are sent back to V2X-Hub for broadcast to vehicle's via the RSU (Road Side Unit).
+
+### Coordinate Frame Translation
 
 ### Messages