Info about when to run roscore where

README.md

@@ -7,6 +7,8 @@ A number of development environments have been set up, adapted to different task
 
 Please note that the instructions for the development environments are written for developers.  They do not necessarily explain every step in detail and have not necessarily been tested on every combination of hardware, operating system, software setup and so on.  You are welcome to contact us for assistance in troubleshooting problems that may arise or to discuss various functionalities in the development environments. 
 
+## Installation and Configuration
+
 To install and configure a development environment, follow these steps:
 
 - [Ensure that you have a supported operating system](doc/install_os.md), directly on your hardware or in a virtual machine

doc/docker_interfacing.md

@@ -2,7 +2,7 @@
 
 Here we describe how to interface with the Docker-based LRS modules from the local ROS installation of your Development System.  The intention is that this should be enough for a person knowledgeable about ROS to start developing their own functionality and interface with the available ROS modules.
 
-See the following for an overview of the available functionality:
+See the following for an overview of the available functionality.  To access these pages, you need to log in to the portal.
 
 - 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/
@@ -128,7 +128,7 @@ docker exec -it lrsdevel "$@"
 
 There are two ways of running the roscore:
 
-- Directly on the Development System:
+- Directly on the Development System.  This ensures that the roscore survives a restart of the Docker containers, which may be an advantage.  May or may not work if you run the Docker containers directly on a Windows or MacOS machine without an Ubuntu virtual machine.
 
   ```bash
   # Start the roscore here
@@ -144,8 +144,6 @@ There are two ways of running the roscore:
   wgrun roscore
   ```
 
-++++++++++++ Options, options.... When do we want to run the roscore where?
-
 ### Loading config files for units
 
 Assume we want to use unit /dji0 in Gränsö. Then do: