My setup:
desktop computer:
Ubuntu 12.04 LTS
Thunderbird 17.0.5
Lightning 1.9.1
laptop computer:
MacBook Pro / OS 10.7.5
Using Stephan's instructions from 2012-02-02 post, I was able to create Lightning calendars on desktop computer from 8 calendars that had been sync'd to iCloud from laptop computer.
Created URLs for these calendars from looking through laptop directory path. Note that these URLs were of the form:
https://pXX-caldav.icloud.com:443/#myUniqueIDHere#/calendars/#calendar_name#/
where XX is a two-digit number, and #calendar_name# was either the name of my calendar, such as "home" (in 1 case), or a lengthy series of characters as described in iWolfgang's post of 2011-10-26.
For 6 of 8 calendars, Lightning had full read-write access -- changes made in Lightning on desktop computer propagated to iCal on laptop within seconds. For 2 of 8 calendars, attempted changes in Lighting triggered "server error 403." Not sure what the critical differences are between the calendars in this case, so, for now, these 2 calendars are read-only in Lightning.
Note that I tried Erusa's instructions, and they also work, however, all calendars were then read-only in Lightning since they were being shared "Public" from iCloud. Using the method descibed above, no particular sharing settings needed to be set for the calendars in iCloud.
Many thanks to all for your help and information.
-Chas