Update docs/installation.md

docs/installation.md

@@ -13,18 +13,34 @@
     - [ana_common.rosinstall](./rosinstalls/ana_common.rosinstall)
     - [ana_real.rosinstall](./rosinstalls/ana_real.rosinstall)
 
+    For each rosinstall
+        
+        roscd; cd ../src
+        wstool merge path/to/rosinstall
+        wstool update -j $(nproc)
+    
+
 3. Install dependencies
 
-```
-roscd
-cd ../src
-rosdep install -r -i -y --from-paths .
-```
+    ```
+    roscd
+    cd ../src
+    rosdep install -r -i -y --from-paths .
+    ```
+
+4. (if real robot) Patch ROSARIA. 
+
+    Applies git patch to output encoder data and be able to compute odometry with [iri_ana_odom](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_odom) node, as Ana encoders changed when motors were replaced and the default platform odometry is wrongly computed. 
+
+    ```
+    roscd rosaria
+    git apply `rospack find iri_ana_bringup`/patch/rosaria_patch.patch
+    ```
 
-4. Compile the workspace
+5. Compile the workspace
 
-```
-roscd
-cd ..
-catkin_make
-```
+    ```
+    roscd
+    cd ..
+    catkin_make
+    ```