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Update README to include instructions for using an environment #167

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Update README to include instructions for using an environment #167

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Update README to include instructions for using an environment
xela-95 Jan 30, 2024
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xela-95 Jan 30, 2024
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Updated README
xela-95 Jan 30, 2024
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20 changes: 20 additions & 0 deletions README.md
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Expand Up @@ -74,6 +74,24 @@ Eprint = {arXiv:1809.02167},
* [Catch2](https://github.com/catchorg/Catch2): to compile the tests.

# :hammer: Build the suite

The dependencies can be installed either using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) (that installs also this repo) or via an isolated environment (see [here](https://github.com/robotology/robotology-superbuild/blob/master/doc/install-mambaforge.md) to learn how to install mambaforge).

It's possible to create the environment via the following command:

```sh
mamba create -n walking -c robotology -c conda-forge bipedal-locomotion-framework idyntree yarp icub-contrib-common icub-main osqp-eigen qpoases libunicycle-footstep-planner gazebo catch2 gazebo-yarp-plugins whole-body-estimators icub-models ergocub-software
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Please use -c conda-forge -c robotology, not the other way around. conda-forge needs to have higher priority as some packages have older versions in robotology and newer versions in conda-forge .

```

This will create an environment called `walking` that can be activated via:

```sh
mamba activate walking
```

> [!NOTE]
> Remember to activate this environment in every terminal used to run the simulation.

## Linux/macOs

```sh
Expand All @@ -84,6 +102,8 @@ cmake ../
make
[sudo] make install
```
If using an environment, remember to set `CMAKE_INSTALL_PREFIX` to the value of `$CONDA_PREFIX`.

Notice: `sudo` is not necessary if you specify the `CMAKE_INSTALL_PREFIX`. In this case it is necessary to add in the `.bashrc` or `.bash_profile` the following lines:
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I'm not sure on how to update this sentence.

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What do you mean?

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Sorry my comment was originally pointing to the line below, 107. It is now ambiguous since the CMAKE_INSTALL_PREFIX is updated also with the conda environment but in such case there is no need to add to the .bashrc the environment variables listed.

Maybe it can be rephrased as: "Notice: if you're using the robotology-superbuild, you don't need to use sudo if you specify the CMAKE_INSTALL_PREFIX. In such case, it's essential to include the following lines in either the .bashrc or .bash_profile file:"

```sh
export WalkingControllers_INSTALL_DIR=/path/where/you/installed/
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