Misc doc updates

.gitignore

 *~
+/.idea/

README.md

-# Waraps Developer Environment
+# Developer Environments
 
-Here we document how to use the waraps ROS development environment. We
-also provide some useful scripts.
+A number of development environments have been set up, adapted to different tasks.  
 
-The basic idea is that the developer has his own Linux Ubuntu ROS
-installation and then either check out publicly available ROS package repos or
-use docker to get access to the software that is not publicly available.
+Unlike the *tutorials*, the development environments cannot be entirely encapsulated in Docker images.  You will need your own Ubuntu Linux system for the actual development, though this system can run in a virtual machine (with some limitations).  You will also need to run ROS on this Linux system.  The development environment then provides many additional functionalities related to the core system, including those functionalities that are present in the tutorials.
 
-If you do not have a ROS machine configured then you can install the
-needed things folowing the instructions here:
-- [Install Software on Local Machine or Virtual Machine](doc/install.md)
-And then do the relevant things below.
-
-If you have a ROS machine already follow the following instructions:
-
-- [Login Docker Registry](https://gitlab.liu.se/lrs/waraps_docker_images) Do not download the image.
-- [Prepare Existing ROS Computer](doc/prepare_ros_computer.md)
-- [Local ROS Installation and LRS Docker Modules](doc/local_ros_installation.md)
-
-The above links gave information how to setup and test basic functionality.
-
-For more information how to integrate your code we have split the
-informaion in different sub areas:
-
-- [Waraps Gransol](https://gitlab.liu.se/lrs/waraps_granso) : Sensor simulation in Granso doe DJI, MQTT interface alsoe to images
-- [Waraps Control](https://gitlab.liu.se/lrs/waraps_control)
-- [Waraps Motion Planning](https://gitlab.liu.se/lrs/waraps_motion_planning)
-- [Waraps Task Planning](https://gitlab.liu.se/lrs/waraps_task_planning)
+If you do not already have a ROS machine configured, or your main system uses a Linux version other than Ubuntu 18.04 / 20.04, then you can install the needed things following the instructions here:
 
+- [Install Software on Local Machine or Virtual Machine](doc/install.md)
 
+++++++++++++++++++ The instructions above include things like ansible that you can't expect people to have just because they have a ROS machine ++++++++++++++++++
 
+The basic idea is that the developer already has a Linux Ubuntu ROS installation 
+and then either checks out publicly available ROS package repos or
+uses Docker to get access to the software that is not publicly available.
 
-        
+When you have a ROS machine, follow the following instructions to set up and test basic functionality:
 
+- [Log in to Docker Registry](https://gitlab.liu.se/lrs/waraps_docker_images) -- Just follow the instructions to log in.  Do not download the image.
+- [Prepare Existing ROS Computer](doc/prepare_ros_computer.md)
+- [Using a Local ROS Installation with LRS Docker Modules](doc/local_ros_installation.md)
 
+For more information on how to integrate your code we have split the information in different sub-areas:
 
+- [Development Environment: Gränsö](https://gitlab.liu.se/lrs/lrs_devenv_granso): Sensor simulation in Gränsö doe DJI, MQTT interface also to images
+- [Development Environment: Control](https://gitlab.liu.se/lrs/lrs_devenv_control)
+- [Development Environment: Motion Planning](https://gitlab.liu.se/lrs/lrs_devenv_motion_planning)
+- [Development Environment: Task Planning](https://gitlab.liu.se/lrs/lrs_devenv_task_planning)
 

doc/install.md

 # Install Instructions
 
-## Virtual Machine Ubuntu 18.04 or 20.04
+## Virtual Machine with Ubuntu 18.04 or 20.04
 
 If you choose to use a virtual machine (not recommended if Gazebo
-should be used becuase of 2D graphics requirements) here are some
+should be used because of 2D graphics requirements) here are some
 information.
 
+++++++++++++++++++ Which machine should this be done on?  What if you have a Windows machine as host?  ++++++++++++++++++
+
 ```bash
 sudo apt install gcc perl make   # to build guest addition kernel modules
 sudo apt install net-tools
 sudo apt install openssh-server
 ```
 
-Configure the network as bridged network.
-
+Configure the network as bridged network.  ++++++++++++++++++
 
 ## Installing Required Software on a Virtual Machine or an Ordinary Computer
 

doc/local_ros_installation.md

 # Local ROS Installation and LRS
 
-Here we descripe how to use a local ROS installation and interface
+Here we describe how to use a local ROS installation and interface
 with the LRS Modules available through docker. The intention is that
 this should be enough for a person knowledgeable about ROS to start
-develop there own functionality and interface with the available ROS
+developing their own functionality and interface with the available ROS
 modules.
 
-See:
+See the following for en overview of the available functionality:
+
 - https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-djisdk-md/
 - https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-single_agent-md/
 - https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-single_agent_tst-md/
-for en overview of the available functionality.
+
 
 ## Table of Content
 

doc/prepare_ros_computer.md

-# Prepare Existsing Computer
+# Prepare Existing Computer
 
 If you already have a ROS computer with a docker daeamon follow the
 instructions below.