Make prerequisites clearer (#585)

Author: philip-n

doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst

@@ -7,7 +7,7 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and
 
 Getting Started
 ---------------
-If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
+If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. If you followed the Docker Guide, also follow the second part of the Getting Started tutorial (from :ref:`Create a Colcon Workspace and Download Tutorials <doc/tutorials/getting_started/getting_started.html:create a colcon workspace and download tutorials>` onwards) to set up the tutorials. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------