Adapt armem doc

etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md

@@ -22,19 +22,21 @@ For each transformation between frames, there exist individual components:
 | `odom->robot`   | **Odometry**                                                                                                                                                     |
 
 
-### Memory design
+### Memory Design
 
-Within the core segment, each robot has its own provider segment (here: Armar6). Within the provider segment, entities describe the transformations between the frames ("Global,Map" -> [global->map]).
+Within the core segment, each robot has its own provider segment (here: `Armar6`).
+Within the provider segment, entities describe the transformations between the frames (`Global,Map` -> `global->map`).
 
 ![Localization](localization/localization-armem.png)
 
-### Using the localization memory
+### Using the Localization Memory
 
-See **RobotAPI/libraries/armem_robot_localization**
+See `armarx::armem::client::robot_state::localization` (include `RobotAPI/libraries/armem_robot_localization/`).
 
 There exist two classes:
 
-* armarx::armem::client::robot_state::localization::TransformWriter to send transformations to memory
-* armarx::armem::client::robot_state::localization::TransformReader to obtain transformations between any of the frames; can also be used to obtain the "robot's global pose"
+* `armarx::armem::client::robot_state::localization::TransformWriter` to send transformations to memory
+* `armarx::armem::client::robot_state::localization::TransformReader` to obtain transformations between any of the 
+  frames; can also be used to obtain the "robot's global pose"
 
-For an example, see RobotComponents/components/carographer_mapping_and_localization (currently branch feature/cartographer_integration)
+For an example, see `RobotComponents/components/carographer_mapping_and_localization` (currently branch `feature/cartographer_integration`)

etc/doxygen/pages/armem/how_to_create_a_new_core_segment_or_memory_server.md

 # How to Create a New Core segment or Memory Server {#memory_system-how_to_create_a_new_core_segment_or_memory_server}
 
+@see
+\ref tutorials_120_memory_server_and_client_cpp
+
+\todo 
+Merge the information from here into the tutorial
+
 In order to make a new type of data available in the memory system, you first need to create an ARON XML file. Please refer to [Aron/CodeGeneration](Aron/CodeGeneration) if you want to know how to do so.
 
-[[_TOC_]]
 
 <!--
 # Define your data type in ARON

etc/doxygen/pages/armem/memory_system.md

@@ -3,6 +3,3 @@
 - \subpage memory_system-introduction
 - \subpage memory_system-existing_servers_segments
 - \subpage memory_system-how_to_create_a_new_core_segment_or_memory_server
-
-
-