Fixing doc.

.gitignore

 *~
+/.idea/

README.md

-# Waraps Developer Environment
+# Developer Environments
 
-Here we document how to use the LRS 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/devenv_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:
-
-- [LRS Gransol](https://gitlab.liu.se/lrs/lrs_devenv_granso) : Sensor simulation in Granso doe DJI, MQTT interface also to images
-- [LRS Control](https://gitlab.liu.se/lrs/lrs_devenv_control)
-- [LRS Motion Planning](https://gitlab.liu.se/lrs/lrs_devenv_motion_planning)
-- [LRS Task Planning](https://gitlab.liu.se/lrs/lrs_devenv_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.