From 4b7210a1e978d26b0417fbc8455017165fbfba15 Mon Sep 17 00:00:00 2001
From: Woen-Sug Choi <woensug.choi@gmail.com>
Date: Mon, 17 Jun 2024 21:08:01 +0900
Subject: [PATCH] readme more in details

---
 .github/workflows/build.yml | 10 +++++++-
 README.md                   | 48 +++++++++++++++++++++++++++++++++----
 2 files changed, 53 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 92e1b71..51f3869 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -11,9 +11,17 @@ jobs:
     steps:
       - name: Check out repository code
         uses: actions/checkout@v4
+
       - name: Install GitHub CLI
         run: |
           brew update
           brew install gh curl
+          
       - name: Run install script
-        run: /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/install.sh)" -- -a
\ No newline at end of file
+        run: /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/install.sh)" -- -a
+
+      - name: Run Test (ROS2 Jazzy)
+        run: source ~/ros2_jazzy/activate_ros && cd ~/ros2_jazzy && colcon test-result --all --verbose
+      
+      - name: Run Test (Gazebo Harmonic)
+        run: source ~/ros2_jazzy/activate_ros && cd ~/gz_harmonic && colcon test-result --all --verbose
\ No newline at end of file
diff --git a/README.md b/README.md
index 73640b0..0c5d759 100644
--- a/README.md
+++ b/README.md
@@ -8,19 +8,59 @@
 ```
 
 ## Introduction
-This is a source code behind oneline installation code to install ROS2 Jazzy and Gazebo Harmonic on Apple Silicon Macbooks.
+This is the source code behind the one-line installation command to install ROS2 Jazzy and Gazebo Harmonic on Apple Silicon Macbooks.
 
-Tested and desgined on macOS Sonomar 14.5 with Apple M3 chip (36 GB), it took about 15 mintues each for ROS2 Jazzy and Gazebo Harmonic
+Tested and designed on macOS Sonoma 14.5 with an Apple M3 chip (36 GB), it took about 15 minutes each to install ROS2 Jazzy and Gazebo Harmonic.
 
-The reasons we are installing ROS2 Jazzy on Apple Silicon Macbooks natively are:
+The reasons for installing ROS2 Jazzy natively on Apple Silicon Macbooks are:
 - Faster performance
   - To avoid using Rosetta 2 to emulate x86_64 architecture
 - Better compatibility
   - USB and other hardware drivers are not fully supported with Docker Desktop for Mac with HyperKit (for now)
   - To avoid any potential issues that may arise from using Rosetta 2
 
+## What it Does
+- ROS2 Jazzy Installation (`install.sh`)
+  - 1. Checking System Requirements
+    - Check XCode Installation
+    - Check Brew Installation
+    - Generate workspace for ROS2 Jazzy (default: `~/ros2_jazzy`)
+  - 2. Install Dependencies
+    - Install dependencies with Brew
+    - Set environment variables for Brew packages
+    - Create a Python 3.11 virtual environment (default `~/.ros2_venv`)
+    - Install Python dependencies
+  - 3. Download ROS2 Jazzy Source Code
+    - Clone the ROS2 Jazzy source code
+      - It's using release tag (default: `release-jazzy-20240523`)
+    - Partial compile to generate structure
+  - 4. Patch for macOS X Installation
+    - Patch for cyclondds, orocos-kdl, rviz_ogre_vendor, rosbag2_transport
+    - Ensure link with qt5
+    - Revert python_orocos_kdl_vendor back to 0.4.1
+    - Remove eclipse-cyclonedds
+  - 5. Compile ROS2 Jazzy
+  - 6. Post Installation
+    - Generate a config file in the workspace
+    - Make source script
+- Gazebo Harmonic Installation (`gz_install.sh`)
+  - 1. Checking System Requirements
+    - Create a workspace for Gazebo Harmonic (default: `~/gz_harmonic`)
+    - Check the Python virtual environment
+  - 2. Install Dependencies
+    - Install Brew dependencies
+    - Install Python dependencies
+    - Set environmetnal variables for brew packages
+    - Install xquartz
+  - 3. Download Gazebo Harmonic Source Code
+    - Clone Gazebo Harmonic Source Code
+  - 4. Compile Gazebo Harmonic
+  - 5. Post Installation
+    - Read/append to the config file in the workspace
+    - Regenerate source script
+
 ## Notes
-- `eclipse-cyclonedds` is excluded from during the installation process
+- `eclipse-cyclonedds` is excluded from the installation process
   - It is not supported on Apple Silicon Macbooks (compile errors)
   - Ref : https://ros.org/reps/rep-2000.html