Adding install tutorials

docs/docs/Tutorials/Install/Install_apt.md

@@ -0,0 +1,54 @@
+##### Requirements
+At the moment, only source installation is supported. Use Ubuntu Focal.
+
+1. Install [ROS 2 Galactic](https://docs.ros.org/en/galactic/index.html)
+
+1. Install [Gazebo Fortress](https://ignitionrobotics.org/docs/fortress)
+
+1. Install necessary tools
+
+    ```
+    sudo apt install python3-vcstool python3-colcon-common-extensions python3-pip git wget
+    ```
+
+##### Usage
+
+1. Create a workspace, for example:
+
+    ```
+    mkdir -p ~/buoy_ws/src
+    cd ~/buoy_ws/src
+    ```
+
+1. Clone all source repos with the help of `vcstool`:
+
+    ```
+    wget https://raw.githubusercontent.com/osrf/buoy_entrypoint/main/buoy_all.yaml
+    vcs import < buoy_all.yaml
+    cd ~/buoy_ws
+    ```
+
+1. Set the Gazebo version to Fortress. This is needed because we're not using an
+   official ROS + Gazebo combination:
+
+    ```
+    export IGNITION_VERSION=fortress
+    export GZ_VERSION=fortress
+    ```
+
+1. Install ROS dependencies
+
+    ```
+    sudo pip3 install -U rosdep
+    sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src -r -y -i
+    ```
+
+1. Build and install
+
+    ```
+    source /opt/ros/galactic/setup.bash
+    cd ~/buoy_ws
+    colcon build
+    ```

docs/docs/Tutorials/Install/Install_docker.md

@@ -0,0 +1,44 @@
+##### Requirements
+
+1. Install Docker using [installation instructions.](https://docs.docker.com/engine/install/ubuntu/).
+
+1. Install [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
+
+1. Complete the [Linux Postinstall steps](https://docs.docker.com/engine/install/linux-postinstall/) to allow you to manage Docker as a non-root user.
+
+1. Install `rocker` by `sudo apt-get install python3-rocker`.
+
+##### Usage
+
+1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
+
+    ```
+    git clone https://github.com/osrf/buoy_entrypoint.git
+    cd ~/buoy_entrypoint/docker/
+    ```
+
+1. Build the docker image
+
+    ```
+    ./build.bash buoy
+    ```
+
+1. Run the container
+
+    ```
+    ./run.bash [-d|s] buoy:latest
+    ```
+    where `./run.bash` option:
+    * -d     Use for development with host system volume mount
+    * -s     Simulation purposes only
+
+    The development use case enables to either use host system home directory for user's custom workspace, or a fresh clone inside the docker container. If using host system workspace, follow the [On Host System](#on-host-system) instructions to build and run the project in the container.
+    Regardless the script option, project source files can be found in `/tmp/buoy_ws/' in the container. Note that any changes to files in the container will have limited scope.
+
+1. To have another window running the same docker container, run this command in a new terminal:
+
+   ```
+   ./join.bash buoy_latest_runtime
+   ```
+
+> The build and run bash scripts are a wrapper around rocker, checkout its [documentation](https://github.com/osrf/rocker) for additional options.

docs/docs/Tutorials/Simulation/Simulation.md

@@ -0,0 +1,12 @@
+##### Run
+
+1. Source the workspace
+
+    `. ~/buoy_ws/install/setup.sh`
+
+1. Launch the simulation
+
+    `ros2 launch buoy_gazebo mbari_wec.launch.py rviz:=True`
+
+
+![startup](images/Buoy_Gazebo_RViz.png)

docs/docs/architecture.md

@@ -3,7 +3,7 @@ The system is moored to the seafloor (typically in 80m of water) through a chain
 As waves excite the system, a differential motion results between the buoy at the surface and the submerged heave cone.  
 Resisting this motion results in energy being absorbed by the system, and this energy is converted to electrical form and stored in a battery bank on the buoy. The rest of this section provides details about the various components of the system
 
-![some discription](images/MBARI_WEC_Assembly_12-5-2019-1.png)
+![some description](images/MBARI_WEC_Assembly_12-5-2019-1.png)
 
 # Buoy, Heave Cone, and Mooring
 The buoy