Document the installation as a single CMake project

README.md

@@ -66,7 +66,9 @@ source install/setup.bash
 
 ## Install
 
-This section describes how to install and build the packages contained in this repository.
+To install the project from source, please follow **only one** of the following two sections.
+
+### Install with colcon
 
 In your ROS2 workspace, clone the repo:
 
@@ -84,6 +86,21 @@ colcon build
 source install/setup.bash
 ```
 
+### Install as a single CMake project
+
+If you want to build this repository as a single CMake project, you can use the `CMakeLists.txt` provided in `xcub_moveit2_all_packages`:
+
+~~~shell
+git clone https://github.com/icub-tech-iit/xcub-moveit2/
+cd xcub-moveit2/xcub_moveit2_all_packages
+cmake -Bbuild -S. -DCMAKE_INSTALL_PREFIX=<install_prefix>
+cmake --build build
+cmake --install build
+
+# Make ROS configuration files available in [ament index](https://github.com/ament/ament_index)
+export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH:<install_prefix>
+~~~
+
 ## Usage on real hardware
 
 If you want to control a yarp-based robot (like iCub) using the proposed framework, you have to make sure that your machine is in communication with the robot one on which ros2 is installed. For this reason, be sure that your laptop and the robot machine are on the same network: