updating installation instructions

Author: markusgft

ct_doc/doc/installation.dox

@@ -1,28 +1,64 @@
 /*!
 
 \page install_guide Installation
-- \subpage requirements
-- \subpage install
-
-
-\page requirements Requirements
 @tableofcontents
-This library is written in C++11. It is tested under Ubuntu 14.04 and 16.04 with
-library versions as provided in the package sources.
 
+\section req Requirements:
+
+- Ubuntu 16.04 or 18.04
+- a compiler with C++14 support, e.g. gcc or clang
 
-\section dep Dependencies
 
- - C++ compiler with C++11 support (we recommend gcc-5.4.1 or greater or clang-3.5 or greater)
- - <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a>
- - <a href="http://wiki.ros.org/catkin">catkin</a> (build system, easy to switch to CMakeLists.txt where needed). We recommend using <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a>
- - boost 1.54 or greater (soon optional)
- - <a href="https://github.com/ethz-asl/kindr">kindr</a>, a kinematics library for robotics,
- which is required for building ct_rbd. Ideally, clone the newest version into your
- catkin workspace:
+\section dep Dependencies and building the library
+ - install ROS, please follow the steps in <a href="http://wiki.ros.org/Installation/Ubuntu"> this tutorial</a> for your Linux distribution.
+ - install <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a> via
+  \code{.sh} 
+  sudo apt-get update 
+  sudo apt-get install libeigen3-dev 
+  \endcode
+ - install the <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a> build system
+ \code{.sh}
+ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install python-catkin-tools
+ \endcode
+ - install boost
  \code{.sh}
- $ git clone https://github.com/ethz-asl/kindr.git
+ sudo apt-get install libboost-all-dev
  \endcode
+ - create a catkin workspace and initialize it
+ \code{.sh}
+ mkdir -p ~/catkin_ws/src
+ cd ~/catkin_ws
+ catkin init
+ \endcode
+
+ - install the <a href="https://github.com/ethz-asl/kindr">kindr</a> library
+  \code{.sh}
+  cd ~/catkin_ws/src
+  git clone https://github.com/ANYbotics/kindr.git
+  \endcode
+
+ - finally, clone the control toolbox and build your workspace
+  \code{.sh}
+  cd ~/catkin_ws/src
+  git clone https://github.com/ethz-adrl/control-toolbox.git
+  catkin build -DCMAKE_BUILD_TYPE=Release
+  \endcode
+
+ - if you would like to run an example, build the library with 
+  \code{.sh}
+  cd ~/catkin_ws/src
+  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  \endcode
+  Now, try to run the examples, e.g. the optimal control and optimal filtering examples:
+   \code{.sh}
+  cd ~/catkin_ws/src
+  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  rosrun ct_optcon ex_NLOC
+  rosrun ct_optcon ex_KalmanFiltering
+  \endcode
 
 
 \section opt_dep Optional Dependencies and Bindings
@@ -60,19 +96,8 @@ The following dependencies and bindings are optional but can help to enhance the
  \endcode
 
 
-\page install Compile
-@tableofcontents
-
-\section build_lib Build the library
-
-In order to build the library, execute the following commands in your terminal
-\code{.sh}
-cd catkin_ws/src
-git clone https://github.com/ethz-asl/kindr.git
-git clone https://bitbucket.org/adrlab/ct.git
-catkin build -DCMAKE_BUILD_TYPE=RELEASE
-\endcode
 
+\section Additional build arguments
 The following additional build flags are available, which can be appended to the build command above
 
 Build Flag  | Default value | Description
@@ -94,7 +119,7 @@ To build the documentation do
 \code{.sh}
 catkin build ct_doc -v --make-args doc # build the doc
 \endcode
-This will build the documentation and open it in your browser.
+This will build the documentation. The index.html can be found in ct_doc.
 
 
 \section run_tests Run Unit Tests