update build instructions

docs/source/conf.py

@@ -39,11 +39,17 @@
 # ones.
 extensions = [
     'sphinx.ext.mathjax',
-    'sphinx.ext.ifconfig'
+    'sphinx.ext.ifconfig',
+    'sphinx.ext.mathjax',
+    'sphinx_design',
+    'sphinx.ext.autosectionlabel',
+    'sphinxcontrib.bibtex',
 ]
 
 extensions += ['doxyrest', 'cpplexer']
 
+bibtex_bibfiles = ['refs.bib']
+
 # Show build time
 html_last_updated_fmt = '%H:%M, %b %d, %Y'
 

docs/source/index.rst

@@ -10,7 +10,7 @@ MOLA
   :hidden:
   :caption: Quickstart
 
-  building
+  installing
   demos
 
 .. toctree::

docs/source/installing.rst

@@ -0,0 +1,85 @@
+.. _installing:
+
+======================
+Installing
+======================
+
+.. contents:: :local:
+
+
+From ROS 2 repositories
+------------------------
+
+**Recommended**: This is the easiest way to install MOLA.
+
+In Debian/Ubuntu systems, activate your ROS environment (``setup.bash``) if not done automatically 
+in your ``~./bashrc`` file, then just run:
+
+.. code-block:: bash
+
+    sudo apt install ros-$ROS_DISTRO-mola
+
+Check the `build status table <https://github.com/MOLAorg/mola#build-matrix-status>`_ to find out
+what MOLA version is available for your ROS distribution.
+
+Build from sources
+----------------------
+
+Building tools
+~~~~~~~~~~~~~~~~~
+MOLA uses ``colcon`` so you need to `install it first <https://colcon.readthedocs.io/en/released/user/installation.html>`_.
+
+
+Get the sources
+~~~~~~~~~~~~~~~~~
+
+Clone the git repositories, including the submodules:
+
+.. code-block:: bash
+
+ mkdir ~/ros2_mola_ws/src/ 
+ cd ~/ros2_mola_ws/src/
+ # Get MRPT2 (until we get the latest version on rosdistro)
+ git clone https://github.com/MRPT/mrpt.git mrpt2 --recursive
+
+ # Main MOLA modules:
+ git clone https://github.com/MOLAorg/mola_common.git
+ git clone https://github.com/MOLAorg/mp2p_icp.git --recursive
+ git clone https://github.com/MOLAorg/mola.git --recursive
+
+ # MOLA lidar odometry package:
+ # not published yet!
+ #git clone https://github.com/MOLAorg/mola_lidar_odometry.git --recursive
+
+Dependencies
+~~~~~~~~~~~~~~~~~
+
+Make sure you have all dependencies installed (make sure of having `rosdep already installed <https://wiki.ros.org/rosdep>`_):
+
+.. code-block:: bash
+
+ cd ~/ros2_mola_ws/src/
+ rosdep install --from-paths src --ignore-src -r -y
+
+
+Build and test
+~~~~~~~~~~~~~~~~~
+
+Now, compile as usual with colcon:
+
+.. code-block:: bash
+
+ cd ~/ros2_mola_ws/src/
+ colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+
+Next, activate the new environment and check if all new modules are visible:
+
+.. code-block:: bash
+
+ cd ~/ros2_mola_ws/src/
+ . install/setup.bash
+
+ # For example, let's launch the mm map viewer:
+ mm-viewer
+