lab1.md

@@ -8,28 +8,23 @@ Introduction
 
 _The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behaviors across a wide variety of robotic platforms_. More information can be found on the [official website](https://www.ros.org/). It is commonly used by many robots in research and industry. ROS can transparently interact with real hardware or with a simulator.
 
-Running
+Working on the Lab Assignments
 -------
 
 **On Campus**
 
-On IDA computers we use an apptainer sif file where all needed
-software is installed. In the apptainer ROS can be found at
+On IDA computers we use an Apptainer sif file where all needed software is installed. In the apptainer, ROS files can be found at
 /opt/ros/humble.
 
 **Personal Computer**
 
-Limitations using Gazebo and Nvidia graphics card: "However, note that
-since the libraries are bound in from the host, the libc version
-present in the container and on the host must not be too far apart or
-there will be libc mismatch errors. Errors happen when the libc in the
-container is older than on the host and have sometimes also been seen
-when the libc in the container is much newer than on the host."
+Consult the lab assistants. There are some limitations when using Gazebo and Nvidia graphics cards: "However, note that
+since the libraries are bound in from the host, the libc version present in the container and on the host must not be too far apart or there will be libc mismatch errors. Errors happen when the libc in the container is older than on the host and have sometimes also been seen when the libc in the container is much newer than on the host."
 
 **ThinLinc**
 
 It is also possible to use ThinLinc to remotely access IDA's computers.
-To use ThinLinc, follow the installation instructions at http://www.cendio.com/thinlinc/download and connect to the IDA server: ```thinlinc.edu.liu.se```.
+To use ThinLinc, follow the installation instructions [here](http://www.cendio.com/thinlinc/download) and connect to the IDA server: ```thinlinc.edu.liu.se```. More information can be found [here](https://liuonline.sharepoint.com/sites/student-under-studietiden/SitePages/en/Fjarrinloggning.aspx).
 
 ROS
 ---
@@ -58,7 +53,7 @@ _TurtleBot 4_ is the next-generation of the world’s most popular open-source r
 
 For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _simple simulator_, which can run well in ThinLinc or the lab computers. The official project uses a 3D simulator, [https://gazebosim.org/](Gazebo), which works poorly on the IDA's computers.
 
-Setup the Environment
+Setting up the Environment
 ---------------------
 
 ### Setting up ```.bashrc``` file:
@@ -89,7 +84,7 @@ Since ROS is running inside a container and ROS_LOCALHOST_ONLY is set
 to 1 there is no risk for conflicts with different users using the
 same ROS_DOMAIN_ID.  So just using the default value is OK.
 
-Start Apptainer ROS
+Starting Apptainer ROS
 -------------------
 
 ```bash