doc: add installation guide to README.md

CHANGELOG.md

@@ -8,7 +8,7 @@ Requires Franka Research 3 system version >= 5.8.0
  * Joint position and cartesian pose examples can now start from the initial q or O_T_EE
  * Joint position and cartesian pose low-pass filters are fixed to use the same command in the first package.
 
- * **Important**: The flags `fci_joint_motion_generator_position_limits_violation_flag` and `fci_cartesian_motion_generator_joint_position_limits_violation_flag` are now always set to false and will be deprecated in future releases. They will be replaced by joint_position_limits_violation.
+ * **Important**: The flags `fci_joint_motion_generator_position_limits_violation_flag` and `fci_cartesian_motion_generator_joint_position_limits_violation_flag` are now always set to false and will be deprecated in future releases. They will be replaced by `joint_position_limits_violation`.
 
 ## 0.14.1 - 2024-09-06
 

README.md

@@ -1,13 +1,133 @@
-# libfranka: C++ library for Franka Robotics research robots
+# libfranka: C++ Library for Franka Robotics Research Robots
 
 [![codecov][codecov-status]][codecov]
 
-With this library, you can control research versions of Franka Robotics robots. See the [Franka Control Interface (FCI) documentation][fci-docs] for more information about what `libfranka` can do and how to set it up. The [generated API documentation][api-docs] also gives an overview of its capabilities.
+**libfranka** is a C++ library that provides low-level control of Franka Robotics research robots. The [generated API documentation][api-docs] offers an overview of its capabilities, while the [Franka Control Interface (FCI) documentation][fci-docs] provides more information on setting up the robot and utilizing its features and functionalities.
+
+To find the appropriate version to use, please refer to the [Compatibility Matrix][compatibility-matrix].
+
+## Key Features
+- **Low-level control**: Access precise motion control for research robots.
+- **Real-time communication**: Interact with the robot in real-time.
+
+## Getting Started
+
+### 1. System Requirements
+Before using **libfranka**, ensure your system meets the following requirements:
+- **Operating System**: [Linux with PREEMPT_RT patched kernel][real-time-kernel]  (Ubuntu 16.04 or later, Ubuntu 22.04 recommended)
+- **Compiler**: GCC 7 or later
+- **CMake**: Version 3.10 or later
+- **Robot**: Franka Robotics robot with FCI feature installed
+
+### 2. Installing dependencies
+
+```bash
+sudo apt-get update
+sudo apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    libpoco-dev \
+    libeigen3-dev \
+    dpkg
+```
+To use libfranka version `0.14.0` or later, you will need to install [pinocchio][stack-of-tasks] and some more dependencies:
+
+```bash
+sudo apt-get install -y \
+    liburdfdom-headers-dev \
+    libconsole-bridge-dev \
+    libtinyxml2-dev
+```
+
+```bash
+sudo apt-get install -qqy lsb-release curl
+```
+
+```bash
+mkdir -p /etc/apt/keyrings
+```
+
+```bash
+curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \
+    | sudo tee /etc/apt/keyrings/robotpkg.asc
+```
+
+```bash
+echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
+    | sudo tee /etc/apt/sources.list.d/robotpkg.list
+```
+
+```bash
+sudo apt-get update \
+    && sudo apt-get install -qqy robotpkg-pinocchio
+```
+
+### 3. Building and Installation from Source
+Before building and installing from source, please uninstall existing installations of libfranka to avoid conflicts:
+
+```bash
+sudo apt remove "*libfranka*"
+```
+#### Clone the Repository
+You can clone the repository and choose the version you need by selecting a specific tag:
+
+```bash
+# Clone the repository
+git clone --recursive https://github.com/frankaemika/libfranka.git
+cd libfranka
+
+# List available tags
+git tag -l
+
+# Checkout a specific tag (e.g., 0.14.1)
+git checkout 0.14.1
+
+# Update submodules
+git submodule update
+
+# Create a build directory and navigate to it
+mkdir build
+cd build
+
+# Configure the project and build
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF ..
+cmake --build .
+```
+
+#### Installing libfranka as a Debian Package (Optional but recommended)
+
+Building a Debian package is optional but recommended for easier installation and management. In the build folder, execute:
+
+```bash
+cpack -G DEB
+```
+This command creates a Debian package named libfranka-<version>-<architecture>.deb. You can then install it with:
+
+```bash
+sudo dpkg -i libfranka*.deb
+```
+Installing via a Debian package simplifies the process compared to building from source every time. Additionally the package integrates better with system tools and package managers, which can help manage updates and dependencies more effectively.
+
+
+### 4. Usage
+After installation, check the [Minimum System and Network Requirements][requirements] for network settings, the [Operating System and PC Configuration][real-time-kernel] for system setup, and the [Getting Started Manual][getting-started] for initial steps. Once configured, you can control the robot using the example applications provided in the examples folder.
+
+To run a sample program, navigate to the build folder and execute the following command:
+
+```bash
+./examples/communication_test <robot-ip> 
+```
 
 ## License
 
 `libfranka` is licensed under the [Apache 2.0 license][apache-2.0].
 
+[stack-of-tasks]: https://stack-of-tasks.github.io/pinocchio/download.html
+[real-time-kernel]: https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel
+[requirements]: https://frankaemika.github.io/docs/requirements.html
+[getting-started]: https://frankaemika.github.io/docs/getting_started.html#
+[compatibility-matrix]: https://frankaemika.github.io/docs/compatibility.html
 [apache-2.0]: https://www.apache.org/licenses/LICENSE-2.0.html
 [api-docs]: https://frankaemika.github.io/libfranka/0.15.0
 [fci-docs]: https://frankaemika.github.io/docs