Update README.md with installation instructions

README.md

@@ -6,23 +6,48 @@
 - openarm_hardware: hardware interface for ros2_control
 - openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
 
-## Description Packages
+
+
+### Description Packages
 
 Each link has a visual mesh and a collision mesh, as shown in the figures below:
   
 <img width="412" alt="visual meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/9020efc3-69bc-420d-93a1-305885925638" />
 <img width="383" alt="collision meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/6f62184e-ccea-4859-9364-7c7d1b8def86" />
 
-## MoveIt2 Support
+### MoveIt2 Support
 
 https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
 
+## Installation
 
-Tested with:
-- [x] Rolling
-- [x] Jazzy
-- [x] Humble
+1. [Install ROS2](https://docs.ros.org/en/humble/Installation.html) (Humble with Ubuntu 22.04 is recommended)
+2. [Create a ROS2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
 
+```sh
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws/src
+git clone https://github.com/reazon-research/openarm_ros2.git
+```
+
+3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)
+
+```sh
+cd ~/ros2_ws
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src -y --ignore-src -r
+
+sudo apt install -y python3-colcon-common-extensions
+colcon build
+```
+
+4. *In a new terminal*, source the workspace setup script
+
+```sh
+cd ~/ros2_ws
+. install/setup.bash
+```
 
 ## License