Doc Updates

docker/azure-kinect/README.md

@@ -3,12 +3,8 @@ Build the image
 podman build -t azure-kinect:latest .
 ```
 
-The following command runs a container with this image without opening up the container network to the host network.
-```bash
-podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :1 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py" 
-```
+Following command executes the image opening up a the container to the host network.
 
-The following command runs a container with this image using the host network as the container network.
 ```bash
 podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --network host --ipc=host --pid=host --env ROS_DOMAIN_ID=10 --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :2 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py depth_mode:=NFOV_UNBINNED  point_cloud_in_depth_frame:=false"
 ```

docs/ArUco_detection.md

@@ -15,3 +15,12 @@ Custom action-server message `FidPoseControlMsg.action` has an extra field to in
 On returning the sample holder, the user has the option to return to a different storage given that the sample holder has previously being pickup up. This ensures that the message type is consistent in both the pickup and return, and all arguments of the message are interpreted. Below is the second part of the above video where the sample holder being return to a different location:
 
 <img src="./images/return_to_another_pickup.gif" alt="Multi-aruco detection" width="300">
+
+
+# ROS nodes structure and connectivies. 
+
+Below diagram is drawn from `rqt_graph`:
+
+<img src="./images/rosgraph_all_nodes.png" alt="Multi-aruco detection" width="1000">
+
+