diff --git a/README.md b/README.md
index c2d07ac393a20c1412d6c630fac7746cbf832d22..67daa736894f74da91ee7dd0090545297cfb8289 100644
--- a/README.md
+++ b/README.md
@@ -1,424 +1,13 @@
 # waraps
 
-Things needed to build a development docker image based on waraps base LRS image.
+- [Local ROS Installation and LRS Docker Modules](doc/local_ros_installation.md)
+- [Install Software on Local Machine or Virtual Machine](doc/install.md)
+- Build a Development Docker
 
-Also instructions how to run different units from a docker. This will
-replace the setup we have had with virtual machines that combitech
-have used.
 
-Will be used for more things in the future.
 
-## Setup
+        
 
-Put the script dir in your PATH plus add somce variables that are needed. For example in .bashrc:
-```bash
-export PATH="/home/tompe/docker/waraps/script:$PATH"
 
-export WORLD_ORIGIN_LAT=57.7605573519 
-export WORLD_ORIGIN_LON=16.6827607783
-export WORLD_ORIGIN_ELEVATION=29.8
-```
 
-The screen file are in: /home/tompe/docker/waraps/screen
-
-NOTICE: C-o \ do not kill the docker containers.
-
-To stop the running containers do:
-```bash
-docker stop $(docker container ls -q)
-```
-
-## Start System Using Only Dockers but use a local ROS Core
-
-### Start a ros core:
-```bash
-roscore
-```
-
-Add location granso to the parameter server.
-```bash
-wdb roslaunch lrs_launch location_granso.launch ns:=/dji0
-```
-
-### Start gazebo using docker:
-```bash
-gazebo roslaunch lrs_wara_gazebo gazebo.launch
-```
-
-### Load dji model using docker:
-```bash
-gazebo roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=0
-```
-
-### Start /op0 using a screen:
-
-```bash
-env NS=/op0 screen -c waraps/screen/screen_op
-```
-
-This will start the following scripts which starts docker containers:
-```bash
-wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
-tst roslaunch lrs_launch tst_part.launch ns:=${NS}
-exec_system roslaunch lrs_launch exec_part.launch ns:=${NS}
-```
-
-### Start /dji0 simulation using a screen:
-
-```bash
-env NS=/dji0 screen -c waraps/screen/screen_djisim
-```
-
-This will start the following scripts which starts docker containers:
-```bash
-base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
-dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=true ns:=${NS}
-wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
-tst roslaunch lrs_launch tst_part.launch ns:=${NS}
-exec_system roslaunch lrs_launch exec_part.launch ns:=${NS}
-exec_dji roslaunch lrs_launch exec_vehicle.launch vehicle:=dji ns:=${NS}
-```
-
-### Test the tqo running screens
-
-Takeoff
-```bash
-tst rosrun lrs_tst tstcommand.py --takeoff -x 100 -y 100 -z 12 --speed 7 --exec __ns:=/dji0
-```
-
-Flyto
-```bash
-tst rosrun lrs_tst tstcommand.py --fly -x 100 -y 100 -z 12 --speed 3 --exec __ns:=/dji0
-```
-
-
-
-### Basic Simulator
-```bash
-base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
-```
-
-### Create a LRS DJI 
-Add
-```bash
-dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
-```
-
-### Create a WDB LRS DJI 
-Add
-```bash
-wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
-```
-
-### Create TST Factory for Execution Trees
-Add
-```
-tst roslaunch lrs_launch tst_part ns:=/dji0
-```
-
-### Create Executors for DJI
-Add
-```bash
-exec_dji roslaunch lrs_launch exec_part.launch ns:=/dji0 vehicle:=dji
-```
-
-### Create Needed Operator
-
-```bash
-wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
-```
-
-```bash
-tst roslaunch lrs_launch tst_part ns:=/op0
-```
-
-```bash
-exec_op roslaunch lrs_launch exec_part.launch ns:=/op0 vehicle:=op
-```
-
-
-## Virtual Machine Ubuntu 18.04
-
-```bash
-sudo apt install gcc perl make   # to build guest addition kernel modules
-sudo apt install net-tools
-sudo apt install openssh-server
-```
-
-
-## Installing Required Software on a Virtual Machine or an Ordinary Computer
-
-Follow the steps below to setup the software required to execute
-Jupyter Notebooks on your native comupter or in a virtual machine.
-You must have the aministrator/root privileges on the machine and basic/intermediate knowledge of Linux.
-
-### Ubuntu 18.04
-
-Open a terminal window and execute the following command to update the list of packages available for your system:
-```bash
-sudo apt update
-```
-
-Install the openssh package:
-```bash
-sudo apt install openssh-server
-```
-
-Install and ansible package:
-```bash
-## sudo install --reinstall ca-certificates # Had to do this for the apt-add-repository to work
-sudo apt install software-properties-common
-sudo apt-add-repository --yes --update ppa:ansible/ansible
-sudo apt install ansible
-```
-
-In the instructions below replace USER with the specific name of the user you logged in with. 
-You can check what name it is by executing the following command to display the value of the USER environment variable:
-```bash
-echo $USER
-```
-
-Test if you can ssh into the machine without providing the password. It is necessary for the remaining steps described below.
-```bash
-ssh USER@localhost
-```
-If you are asked to enter the password, cancel the command (Ctrl+C) and execute the following command to install the needed ssh key:
-```bash
-ssh-copy-id -i USER@localhost
-```
-If you don't have an ssh key generated on the machine yet, execute:
-```bash
-ssh-keygen
-```
-and repeat the previous step. You should now be able to login to the machine using: ```ssh USER@localhost```
-
-After loging in make sure that
-```bash
-sudo ls
-```
-does not require a password. If it does you should fix the required permissions. Execute:
-```bash
-sudo visudo
-```
-and add ```NOPASSWD:```  by changing the line:
-```bash
-%sudo   ALL=(ALL:ALL) ALL
-```
-to
-```bash
-%sudo  ALL=(ALL:ALL) NOPASSWD: ALL
-```
-
-If this is considered a security risk the alternative is to give the
-password as argument to the ansible-playbook command:
-```bash
-ansible-playbook -i hosts playbooks/wara.yml -e ansible_sudo_pass=******
-```
-
-Install the playbooks repo:
-```bash
-sudo apt install git
-git clone https://gitlab.liu.se/lrs/lrs_playbooks.git
-```
-
-In the command below the value of the environment variable specifying
-the login name is used. You don't have to replace it.
-
-Run playbook to install and update the wara developer programs. It can take several minutes to complete.
-```bash
-cd lrs_playbooks
-git pull
-ansible-playbook -i hosts playbooks/wara_develop.yml -e user=${USER} -e install_user=${USER}
-```
-
-Add the following commands at the end of ```~/.bashrc``` file:
-```bash
-export WORLD_ORIGIN_LAT=57.7605573519 
-export WORLD_ORIGIN_LON=16.6827607783
-export WORLD_ORIGIN_ELEVATION=29.8
-
-#source /opt/ros/melodic/setup.bash
-source ${HOME}/wara_ws/devel/setup.bash
-export PATH=${HOME}/waraps/script:${PATH}
-```
-These commands will take effect next time you open a new terminal window or login to the system.
-
-At this point your system now has the necessary software installed.
-
-You can use the following commands to test the 3D graphics hardware and driver setup on your system:
-
-```bash
-glxgears
-glmark2
-```
-
-If the above commands execute without errors you can test that Gazebo works correctly on your system:
-
-```bash
-roslaunch lrs_wara_gazebo gazebo.launch
-roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=5
-```
-
-
-## Running Sub Systems from Docker
-
-WORK IN PROGRESS!
-
-### Define a location
-
-```bash
-roslaunch lrs_launch location_granso.launch ns:=/dji0
-```
-
-### Scripts to start docker containers (and pull)
-
-- base_dji
-- dji_system
-- wdb 
-
-### Dji Simulator with MPC Trajectory Contoller
-
-```bash
-	docker run \
-	  --network host \
-	  --security-opt apparmor:unconfined \
-	  --ulimit nofile=1024 \
-	  -e ROS_HOSTNAME=localhost \
-	  --rm -it gitlab.liu.se:5000/lrs/waraps_docker_images/base-dji-minimal:v01 \
-          roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false
-```
-
-or
-
-```bash
-base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
-```
-
-### Create a LRS DJI 
-Add
-```bash
-dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
-```
-
-### Create a WDB LRS DJI 
-Add
-```bash
-wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
-```
-
-### Create TST Factory for Execution Trees
-Add
-```
-tst roslaunch lrs_launch tst_part.launch ns:=/dji0
-```
-
-### Create Executors for DJI
-Add
-```bash
-exec_dji roslaunch lrs_launch exec_part.launch ns:=/dji0 vehicle:=dji
-```
-
-### Create Needed Operator
-
-```bash
-wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
-```
-
-```bash
-tst roslaunch lrs_launch tst_part.launch ns:=/op0
-```
-
-```bash
-exec_op roslaunch lrs_launch exec_part.launch ns:=/op0 vehicle:=op
-```
-
-### Putting it all together in two screens
-
-
-
-## Running units from docker
-
-Start docker with wrun or wgrun. Use wgrun ig you have NVIDIA graphics
-working in dockers using the new method with the flag "--gpus".
-
-### Running units on different computer
-
-To start /op0, /djisim0, /djisim1, /pirayasim0 do:
-```bash
-wrun op 0
-```
-
-```bash
-wrun djisim 0
-```
-
-```bash
-wrun djisim 1
-```
-```bash
-wrun pirayasim 0
-```
-
-
-### Running units on the same computer
-
-here we just start one container and then used "docker exec" to get different shells.
-
-Start the docker container:
-```bash
-wrun bash
-```
-Can be detached with C-p C-q.
-
-To start /op0, /djisim0, /djisim1, /pirayasim0 do:
-```bash
-wexec
-op 0
-```
-
-```bash
-wexec
-djisim 0
-```
-
-```bash
-wexec
-djisim 1
-```
-```bash
-wexec
-pirayasim 0
-```
-
-
-## User Specific Development Docker
-
-THIS INFORMATION IS NOT YET COMPLETE! DO NOT USE!
-
-### Build user specific development docker image
-
-```bash
-cd docker
-./build
-```
-
-### Run the user specific developer image
-
-```bash
-cd docker
-./run.sh ${HOME}/wara_docker_home
-```
-
-The run.sh script takes one argument and it is the directory that is mounted as home directory.
-
-### Init files
-
-You have to create your own init files.
-
-To get access to the ROS-repos put:
-```bash
-source /opt/lrs_wara/wara_devel_ws/deve/setup.bash
-```
-
-in your .bashrc file.
 
diff --git a/doc/install.md b/doc/install.md
new file mode 100644
index 0000000000000000000000000000000000000000..99220c7362121775e7c4985855e393785e71be8d
--- /dev/null
+++ b/doc/install.md
@@ -0,0 +1,123 @@
+# Install Instructions
+
+## Virtual Machine Ubuntu 18.04
+
+```bash
+sudo apt install gcc perl make   # to build guest addition kernel modules
+sudo apt install net-tools
+sudo apt install openssh-server
+```
+
+
+## Installing Required Software on a Virtual Machine or an Ordinary Computer
+
+Follow the steps below to setup the software required to execute
+Jupyter Notebooks on your native comupter or in a virtual machine.
+You must have the aministrator/root privileges on the machine and basic/intermediate knowledge of Linux.
+
+### Ubuntu 18.04
+
+Open a terminal window and execute the following command to update the list of packages available for your system:
+```bash
+sudo apt update
+```
+
+Install the openssh package:
+```bash
+sudo apt install openssh-server
+```
+
+Install and ansible package:
+```bash
+## sudo install --reinstall ca-certificates # Had to do this for the apt-add-repository to work
+sudo apt install software-properties-common
+sudo apt-add-repository --yes --update ppa:ansible/ansible
+sudo apt install ansible
+```
+
+In the instructions below replace USER with the specific name of the user you logged in with. 
+You can check what name it is by executing the following command to display the value of the USER environment variable:
+```bash
+echo $USER
+```
+
+Test if you can ssh into the machine without providing the password. It is necessary for the remaining steps described below.
+```bash
+ssh USER@localhost
+```
+If you are asked to enter the password, cancel the command (Ctrl+C) and execute the following command to install the needed ssh key:
+```bash
+ssh-copy-id -i USER@localhost
+```
+If you don't have an ssh key generated on the machine yet, execute:
+```bash
+ssh-keygen
+```
+and repeat the previous step. You should now be able to login to the machine using: ```ssh USER@localhost```
+
+After loging in make sure that
+```bash
+sudo ls
+```
+does not require a password. If it does you should fix the required permissions. Execute:
+```bash
+sudo visudo
+```
+and add ```NOPASSWD:```  by changing the line:
+```bash
+%sudo   ALL=(ALL:ALL) ALL
+```
+to
+```bash
+%sudo  ALL=(ALL:ALL) NOPASSWD: ALL
+```
+
+If this is considered a security risk the alternative is to give the
+password as argument to the ansible-playbook command:
+```bash
+ansible-playbook -i hosts playbooks/wara.yml -e ansible_sudo_pass=******
+```
+
+Install the playbooks repo:
+```bash
+sudo apt install git
+git clone https://gitlab.liu.se/lrs/lrs_playbooks.git
+```
+
+In the command below the value of the environment variable specifying
+the login name is used. You don't have to replace it.
+
+Run playbook to install and update the wara developer programs. It can take several minutes to complete.
+```bash
+cd lrs_playbooks
+git pull
+ansible-playbook -i hosts playbooks/wara_develop.yml -e user=${USER} -e install_user=${USER}
+```
+
+Add the following commands at the end of ```~/.bashrc``` file:
+```bash
+export WORLD_ORIGIN_LAT=57.7605573519 
+export WORLD_ORIGIN_LON=16.6827607783
+export WORLD_ORIGIN_ELEVATION=29.8
+
+#source /opt/ros/melodic/setup.bash
+source ${HOME}/wara_ws/devel/setup.bash
+export PATH=${HOME}/waraps/script:${PATH}
+```
+These commands will take effect next time you open a new terminal window or login to the system.
+
+At this point your system now has the necessary software installed.
+
+You can use the following commands to test the 3D graphics hardware and driver setup on your system:
+
+```bash
+glxgears
+glmark2
+```
+
+If the above commands execute without errors you can test that Gazebo works correctly on your system:
+
+```bash
+roslaunch lrs_wara_gazebo gazebo.launch
+roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=5
+```
diff --git a/doc/workinprogress.md b/doc/workinprogress.md
new file mode 100644
index 0000000000000000000000000000000000000000..8f4e6ec7265d46a9fea34422ed8cf5e405ec9b6c
--- /dev/null
+++ b/doc/workinprogress.md
@@ -0,0 +1,216 @@
+Things needed to build a development docker image based on waraps base LRS image.
+
+Also instructions how to run different units from a docker. This will
+replace the setup we have had with virtual machines that combitech
+have used.
+
+Will be used for more things in the future.
+
+### Basic Simulator
+```bash
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
+```
+
+### Create a LRS DJI 
+Add
+```bash
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+### Create a WDB LRS DJI 
+Add
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
+```
+
+### Create TST Factory for Execution Trees
+Add
+```
+tst roslaunch lrs_launch tst_part ns:=/dji0
+```
+
+### Create Executors for DJI
+Add
+```bash
+exec_dji roslaunch lrs_launch exec_part.launch ns:=/dji0 vehicle:=dji
+```
+
+### Create Needed Operator
+
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
+```
+
+```bash
+tst roslaunch lrs_launch tst_part ns:=/op0
+```
+
+```bash
+exec_op roslaunch lrs_launch exec_part.launch ns:=/op0 vehicle:=op
+```
+
+
+
+
+## Running Sub Systems from Docker
+
+WORK IN PROGRESS!
+
+### Define a location
+
+```bash
+roslaunch lrs_launch location_granso.launch ns:=/dji0
+```
+
+### Scripts to start docker containers (and pull)
+
+- base_dji
+- dji_system
+- wdb 
+
+### Dji Simulator with MPC Trajectory Contoller
+
+```bash
+	docker run \
+	  --network host \
+	  --security-opt apparmor:unconfined \
+	  --ulimit nofile=1024 \
+	  -e ROS_HOSTNAME=localhost \
+	  --rm -it gitlab.liu.se:5000/lrs/waraps_docker_images/base-dji-minimal:v01 \
+          roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false
+```
+
+or
+
+```bash
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
+```
+
+### Create a LRS DJI 
+Add
+```bash
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+### Create a WDB LRS DJI 
+Add
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
+```
+
+### Create TST Factory for Execution Trees
+Add
+```
+tst roslaunch lrs_launch tst_part.launch ns:=/dji0
+```
+
+### Create Executors for DJI
+Add
+```bash
+exec_dji roslaunch lrs_launch exec_part.launch ns:=/dji0 vehicle:=dji
+```
+
+### Create Needed Operator
+
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
+```
+
+```bash
+tst roslaunch lrs_launch tst_part.launch ns:=/op0
+```
+
+```bash
+exec_op roslaunch lrs_launch exec_part.launch ns:=/op0 vehicle:=op
+```
+
+### Putting it all together in two screens
+
+
+
+## Running units from docker
+
+Start docker with wrun or wgrun. Use wgrun ig you have NVIDIA graphics
+working in dockers using the new method with the flag "--gpus".
+
+### Running units on different computer
+
+To start /op0, /djisim0, /djisim1, /pirayasim0 do:
+```bash
+wrun op 0
+```
+
+```bash
+wrun djisim 0
+```
+
+```bash
+wrun djisim 1
+```
+```bash
+wrun pirayasim 0
+```
+
+
+### Running units on the same computer
+
+here we just start one container and then used "docker exec" to get different shells.
+
+Start the docker container:
+```bash
+wrun bash
+```
+Can be detached with C-p C-q.
+
+To start /op0, /djisim0, /djisim1, /pirayasim0 do:
+```bash
+wexec
+op 0
+```
+
+```bash
+wexec
+djisim 0
+```
+
+```bash
+wexec
+djisim 1
+```
+```bash
+wexec
+pirayasim 0
+```
+
+
+## User Specific Development Docker
+
+THIS INFORMATION IS NOT YET COMPLETE! DO NOT USE!
+
+### Build user specific development docker image
+
+```bash
+cd docker
+./build
+```
+
+### Run the user specific developer image
+
+```bash
+cd docker
+./run.sh ${HOME}/wara_docker_home
+```
+
+The run.sh script takes one argument and it is the directory that is mounted as home directory.
+
+### Init files
+
+You have to create your own init files.
+
+To get access to the ROS-repos put:
+```bash
+source /opt/lrs_wara/wara_devel_ws/deve/setup.bash
+```
+
+in your .bashrc file.
+