Fix: high level overview

doc/using_the_march_exoskeleton/high_level_overview.rst

@@ -6,18 +6,27 @@ A high level overview of the components that make up the |march|.
 
 .. inclusion-introduction-end
 
-.. figure:: images/software_stack.png
+.. figure:: images/high_level_architecture.svg
    :align: center
 
    The March software stack
 
 Simulation versus Exoskeleton
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-As our exoskeleton is under construction most of the time, we have made use of a simulation to ensure we can verify our higher level nodes work.
-As seen in the above image, most of the hardware components have a simulated counterpart.
+As the |march| is under construction most of the time, we have made use of
+a simulation to ensure we can verify our higher level nodes work. As seen in
+the above image, most of the hardware components have a simulated counterpart.
 
-At launch time, the user is asked if they are trying to run on the exoskeleton or on the simulation.
-Based on this selection, the required components are started.
+When launching, the user can choose whether to launch the simulation or the
+hardware. See :ref:`march-launch-label` for more information on launching the
+exoskeleton.
 
 Input Device
 ^^^^^^^^^^^^
+The pilot of the exoskeleton can give input on which gait they want to perform
+through the input device embedded in one of the crutches, see
+:ref:`march-input-device-label`. Furthermore, there exists a developer input
+device in the form of an RQT plugin, see :ref:`march-rqt-input-device-label`.
+Both of these ways of input can either be used in the simulation or the
+hardware. They are not dependent on the configuration in which the exoskeleton
+is run.