diff --git a/README.md b/README.md
index 67387a9..6f78dc3 100755
--- a/README.md
+++ b/README.md
@@ -1,96 +1,71 @@
# RoboBuggy2
-A complete re-write of the old RoboBuggy.
+A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit.
+
----
## Table of Contents
- - Installation
- - Quickstart
- - Development
+ - Installation and Initial Setup
+ - Launching Code
+ - Code Structure and Documentation
---
-## Installation (for Windows)
-### Install Softwares: WSL, Ubuntu, Foxglove
-- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS".
-- Go install Foxglove https://foxglove.dev/.
+## Installation and Initial Setup
+### Necessary + Recommended Software
+TODO: add explanations for what each software is for
+- Docker
+- Foxglove
+- VSCode (recommended)
+- Git (recommended)
+
### Docker
-- You will need [Docker](https://docs.docker.com/get-docker/) installed.
+- Installation instructions here: https://docs.docker.com/get-docker/
-### Set up repo in WSL
-- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
-- Note: Ensure that the SSH keys are generated while in the WSL terminal
-- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
+### Foxglove
+- Installation instructions here: https://foxglove.dev/
-### Clone
-- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`.
-- The clone link above is find in github: code -> local -> Clone SSH.
-- 
+### VSCode
+### Git
-### ROS
-- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
-- To build the ROS workspace and source it, run:
- catkin_make
- source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands
-- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. Start from the first and install Ros using a Virtual Machine.
-## Installation (for MacOS - M2)
-### Install Softwares: Docker, Foxglove
-- Go install Foxglove https://foxglove.dev/.
-- You will need [Docker](https://docs.docker.com/get-docker/) installed.
+## TODO: other docs which i don't know if they're necessary
+### Install Softwares: WSL, Ubuntu
+- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". TODO: is this actually necessary?
+### Set up repo in WSL TODO: again, do we actually need wsl?
+- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
+- Note: Ensure that the SSH keys are generated while in the WSL terminal
+- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
+
+### TODO: this is setup for MacOS
### Set up repository
- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
- Note: Ensure that the SSH keys are generated while in the WSL terminal
- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
-### Clone
-- In your terminal type: `$ git clone git@github.com:CMU-Robotics-Club/RoboBuggy.git`.
+
+## Initial Setup
+
+### Clone the Repository
+This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git.
+- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`.
- The clone link above is find in github: code -> local -> Clone SSH.
- 
### ROS
+TODO: what is this actually doing? explain what these lines of code do
- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
- To build the ROS workspace and source it, run:
catkin_make
source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands
-- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. Start from the first and install Ros using a Virtual Machine.
-
----
-## Open Docker
-- Use `cd` to change the working directory to be `RoboBuggy2`
-- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
-- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
-- When you are done, type Ctrl+C and use `$exit` to exit.
-
-## 2D Simulation
-- Boot up the docker container
-- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy
-- See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options
-- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
-
-
-
-- See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options
- - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading))
-- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg.
-- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel.
-
-### Simulator notes
-Feedback:
-- Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix)
-- UTM coordinates (assume we're in Zone 17T): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW)
-- INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm)
-Commands:
-- Steering angle: `/buggy/steering` in degrees (std_msgs/Float64)
-- Velocity: `/buggy/velocity` in m/s (std_msgs/Float64)
+- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. TODO: add recommendations on which aspects of ROS we use most
-## Foxglove Visualization
+### Foxglove Visualization
- Foxglove is used to visualize both the simulator and the actual buggy's movements.
- First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file".
- 
@@ -100,8 +75,9 @@ Commands:
- Open Foxglove, choose the third option "start link".
- 
-## X11 Setup
-Instructions:
+
+### X11 Setup (recommended)
+TODO: explain what X11 is for (i think it's only for the manual velocity updater in the sim?)
- Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.).
- Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked.
- Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt.
@@ -109,7 +85,27 @@ Instructions:
- Boot up the docker container using the "Alternate Shortcut" above.
- Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good.
----
+
+## Launching Code
+### Open Docker
+- Use `cd` to change the working directory to be `RoboBuggy2`
+- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
+- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
+- When you are done, type Ctrl+C and use `$exit` to exit.
+
+### 2D Simulation
+- Boot up the docker container
+- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy
+- See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options
+- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
+
+
+
+- See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options
+ - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading))
+- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg.
+- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel.
+
### Connecting to and Launching the RoboBuggy
When launching the buggy:
- Connect to the Wi-Fi named ShortCircuit.
@@ -132,3 +128,13 @@ When shutting down the buggy:
`$ exit`
- Shutdown the ShortCircuit computer
`$ sudo shutdown now`
+
+## Documentation
+### Simulator notes
+- Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix)
+- UTM coordinates (assume we're in Zone 17T): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW)
+- INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm)
+Commands:
+- Steering angle: `/buggy/steering` in degrees (std_msgs/Float64)
+- Velocity: `/buggy/velocity` in m/s (std_msgs/Float64)
+