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MOLAorg · Jan 12, 2024 · 377ca15 · 377ca15
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commit 377ca15
Showing 1 changed file with 48 additions and 50 deletions.
diff --git a/docs/source/installing.rst b/docs/source/installing.rst
@@ -4,82 +4,80 @@
 Installing
 ======================
 
-.. contents:: :local:
+.. dropdown:: From ROS 2 repositories
+    :open:
+    :icon: download
 
+    **Recommended**: This is the easiest way to install MOLA.
 
-From ROS 2 repositories
-------------------------
+    In Debian/Ubuntu systems, activate your ROS environment (``setup.bash``) if not done automatically 
+    in your ``~./bashrc`` file, then just run:
 
-**Recommended**: This is the easiest way to install MOLA.
+    .. code-block:: bash
 
-In Debian/Ubuntu systems, activate your ROS environment (``setup.bash``) if not done automatically 
-in your ``~./bashrc`` file, then just run:
+        sudo apt install ros-$ROS_DISTRO-mola
 
-.. code-block:: bash
+    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.
 
-    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.
+.. dropdown:: Build from sources
+    :icon: code-square
 
-Build from sources
-----------------------
+    Building tools
+    ~~~~~~~~~~~~~~~~~
+    MOLA uses ``colcon`` so you need to `install it first <https://colcon.readthedocs.io/en/released/user/installation.html>`_.
 
-Building tools
-~~~~~~~~~~~~~~~~~
-MOLA uses ``colcon`` so you need to `install it first <https://colcon.readthedocs.io/en/released/user/installation.html>`_.
 
+    Get the sources
+    ~~~~~~~~~~~~~~~~~
 
-Get the sources
-~~~~~~~~~~~~~~~~~
+    Clone the git repositories, including the submodules:
 
-Clone the git repositories, including the submodules:
+    .. code-block:: bash
 
-.. 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
 
- 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
 
- # 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
 
- # MOLA lidar odometry package:
- # not published yet!
- #git clone https://github.com/MOLAorg/mola_lidar_odometry.git --recursive
+    Dependencies
+    ~~~~~~~~~~~~~~~~~
 
-Dependencies
-~~~~~~~~~~~~~~~~~
+    Make sure you have all dependencies installed (make sure of having `rosdep already installed <https://wiki.ros.org/rosdep>`_):
 
-Make sure you have all dependencies installed (make sure of having `rosdep already installed <https://wiki.ros.org/rosdep>`_):
+    .. code-block:: bash
 
-.. code-block:: bash
+        cd ~/ros2_mola_ws/
+        rosdep install --from-paths src --ignore-src -r -y
 
- cd ~/ros2_mola_ws/src/
- rosdep install --from-paths src --ignore-src -r -y
 
+    Build and test
+    ~~~~~~~~~~~~~~~~~
 
-Build and test
-~~~~~~~~~~~~~~~~~
+    Now, compile as usual with colcon:
 
-Now, compile as usual with colcon:
+    .. code-block:: bash
 
-.. code-block:: bash
+        cd ~/ros2_mola_ws/
+        colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 
- 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:
 
-Next, activate the new environment and check if all new modules are visible:
+    .. code-block:: bash
 
-.. code-block:: bash
-
- cd ~/ros2_mola_ws/src/
- . install/setup.bash
-
- # For example, let's launch the mm map viewer:
- mm-viewer
+        cd ~/ros2_mola_ws/
+        . install/setup.bash
 
+        # For example, let's launch the mm map viewer:
+        mm-viewer