diff --git a/00_GettingStarted/README.md b/00_GettingStarted/README.md
index f2cff9034ed1f9e0fd72ed6ba7608660c9be017c..c15d5c46685990ef0b9e6c7d5b690008a5bab451 100644
--- a/00_GettingStarted/README.md
+++ b/00_GettingStarted/README.md
@@ -56,7 +56,7 @@ A `Docker image` is a **snapshot of an application or system** that has been pac
In `Introduction to Robotics` we will provide you a `Docker image` that is a snapshot of an **Ubunutu operating system** with the **Robot Operating System (ROS)** installed and all the necessary additional libraries that will be necessary for this course.
-In the following section you will find information on how to install `Docker` and how to start a running `Docker container` as an instance of the `Docker image` we provided for this course.
+In the following sections you will find information on how to install `Docker` and how to start a running `Docker container` as an instance of the `Docker image` we provided for this course.
### Installing Docker
@@ -69,7 +69,7 @@ After successfull installation, **open** `Docker Desktop`. The GUI should open a
### Starting a Container to work with ROS
To make sure you can all start with the same working `ROS` environment we use a predefined *image* and *compose* file. Both are stored in this repository at [00_GettingStarted/docker/i2r/](docker/i2r/).
-Following the instructions to download the repository to your local machine and start the group of containers:
+Follow the instructions to download the repository to your local machine and start the group of containers:
1. Create a folder named ***i2r*** for the contents of the `Introduction to Robotics` course.
2. Open this folder in `VS Code` by either starting `VS Code` from Terminal or by using the GUI.
@@ -88,7 +88,7 @@ Following the instructions to download the repository to your local machine and
3. Open the *Terminal* in `VS Code` (*Terminal* → *New Terminal*). The path in the Terminal should be the one you selected before.
4. Now clone the repository from gitlab by copying the follwing command into the Terminal and press enter. (You are asked to enter your gitlab user name and password.)
```bash
- git clone https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023.git
+ git clone https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023.git
```
- If you don't have *git* installed, you can either install it or go to the gitlab repository using the browser and download the source code into the *i2r* folder.
- Information on how to install git can be found for all OS [here](https://git-scm.com/book/en/v2/Getting-Started-Installing-Git)
@@ -100,12 +100,33 @@ Following the instructions to download the repository to your local machine and
```bash
docker compose up
```
+ This command will download the needed images and start two containers. One container named ***i2r-ros-1*** which contains a snapshot of an Ubuntu OS with ROS and additional packages installed. The second container is an auxiliary container named ***i2r-gui-1*** that will be used to inspect graphical user interfaces of applications started in the i2r-ros-1 container.
+
+ The terminal output will look the following:
+
+ 
+
7. In the `Docker Desktop` GUI go to the *Containers* tab. You should see now, that there are two containers launched under the group name *i2r*.
- - Another option to inspect the containers is using the terminal.
+
+ *`Docker Desktop` GUI: Inside the Containers tab you should find the started group of containers.*
+ - Another option to inspect the containers is using the terminal. (Note: If you are still in the terimal you executed the *docker compose up*, make sure to start a new terminl, but let the old terminal running.)
```bash
- docker container ls --all
+ docker ps --all
```
-
+ The terminal output will look the following:
+ 
+ There will be information like ID of the container, name of the image the container was build from etc.
+8. To connect to the ***i2r-ros-1*** container, the container we will use to work with `ROS`, execute the following command from terminal:
+ ```bash
+ docker exec -it i2r-ros-1 bash
+ ```
+ <!-- blank line -->
+ <figure class="video_container">
+ <video controls="true" allowfullscreen="true" poster="images/docker_exec_rosContainer.png">
+ <source src="images/docker_exec_rosContainer_video.webm" type="video/webm">
+ </video>
+ </figure>
+ <!-- blank line -->
## In case of problems
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