[skip ci] publish latest

Signed-off-by: fmrico <fmrico@gmail.com>

Author: fmrico

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+
+.. _build_and_install:
+
+=================
+Build & Install
+=================
+
+This page explains how to install and build the **EasyNavigation (EasyNav)** framework.
+If you are new here, start with :doc:`../getting_started/index` for a high‑level overview,
+then return to this guide to set up your development environment.
+
+.. contents:: On this page
+   :local:
+   :depth: 2
+
+Supported platforms
+-------------------
+
+EasyNav targets modern Linux distributions and ROS 2 releases:
+
+- **Ubuntu 24.04 (Noble)** — ROS 2 *kilted* (primary CI target)
+- **Ubuntu 24.04 (Noble)** — ROS 2 *rolling*
+- Other platforms may work but are not actively tested.
+
+.. note::
+   If you are using a different distribution or ROS 2 release, contributions to extend
+   the support matrix are very welcome.
+
+Prerequisites
+-------------
+
+
+1. ROS 2 (kilted or rolling)
+
+   Follow the official ROS 2 installation instructions for your platform.
+   Ensure your ROS 2 environment is sourced before building EasyNav.
+
+   .. code-block:: bash
+
+      # Example (adjust to your ROS 2 distro):
+      source /opt/ros/kilted/setup.bash
+
+2. ROS dependencies
+
+   .. code-block:: bash
+
+      sudo rosdep init
+      rosdep update
+
+Install from binaries (APT)
+---------------------------
+
+Binary packages will be provided via APT for Ubuntu + ROS 2 as they become available.
+
+.. admonition:: Coming soon
+   :class: hint
+
+   Prebuilt Debian packages are planned. Once published, you will be able to run:
+
+   .. code-block:: bash
+
+      sudo apt update
+      sudo apt install ros-kilted-easynav
+
+Build from source
+-----------------
+
+Workspace layout
+~~~~~~~~~~~~~~~~
+
+We recommend a standard ROS 2 workspace:
+
+.. code-block:: bash
+
+   mkdir -p ~/ros/ros2/easynav_ws/src
+   cd ~/ros/ros2/easynav_ws
+
+Clone sources
+~~~~~~~~~~~~~
+
+You can retrieve EasyNav sources either by cloning the monorepo(s) you need:
+
+.. code-block:: bash
+
+   cd ~/ros/ros2/easynav_ws/src
+   # Core/meta repositories (examples — adjust to your needs)
+   git clone https://github.com/EasyNavigation/EasyNavigation.git
+   git clone https://github.com/EasyNavigation/easynav_plugins.git
+   git clone https://github.com/EasyNavigation/NavMap.git
+
+
+Install dependencies
+~~~~~~~~~~~~~~~~~~~~
+
+From the workspace root, resolve all package dependencies with rosdep:
+
+.. code-block:: bash
+
+   cd ~/ros/ros2/easynav_ws
+   rosdep install --from-paths src --ignore-src -y -r
+
+Configure and build
+~~~~~~~~~~~~~~~~~~~
+
+Use colcon to build the workspace. You may enable symlink-install for faster iteration.
+
+.. code-block:: bash
+
+   cd ~/ros/ros2/easynav_ws
+   colcon build --symlink-install
+
+Source the overlay
+~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+   # Source ROS 2 first (kilted / rolling)
+   source /opt/ros/kilted/setup.bash
+   # Then source the workspace
+   source ~/ros/ros2/easynav_ws/install/setup.bash
+
+Run tests (optional)
+~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+   cd ~/ros/ros2/easynav_ws
+   colcon test --ctest-args -R easynav  # run EasyNav-related tests
+   colcon test-result --verbose
+
+Common options
+--------------
+
+- **Release build:** ``--cmake-args -DCMAKE_BUILD_TYPE=Release``
+- **Verbose build:** ``--event-handlers console_cohesion+``
+- **Single package:** ``--packages-select <pkg_name>``
+- **Parallel jobs:** ``--parallel-workers $(nproc)``
+
+Troubleshooting
+---------------
+
+- **Missing rosdep keys**
+
+  Run ``rosdep check --from-paths src --ignore-src`` to diagnose. If a dependency
+  is truly missing on your platform, consider opening an issue with details.
+
+- **CMake not finding ROS packages**
+
+  Ensure you have sourced the correct ROS 2 distro and your workspace install
+  before building or running executables.
+
+  .. code-block:: bash
+
+     source /opt/ros/kilted/setup.bash
+     source ~/ros/ros2/easynav_ws/install/setup.bash
+
+- **ABI / compiler issues**
+
+  Remove the build, install, and log folders and rebuild:
+
+  .. code-block:: bash
+
+     cd ~/ros/ros2/easynav_ws
+     rm -rf build install log
+     colcon build --merge-install
+
+Uninstall / clean
+-----------------
+
+Since this is a workspace overlay, you can remove it safely:
+
+.. code-block:: bash
+
+   rm -rf ~/ros/ros2/easynav_ws
+
+Next steps
+----------
+
+- :doc:`../getting_started/index` — quick start with simulation and first launch  
+- :doc:`../howtos/index` — step-by-step guides for mapping, navigation, and deployment  
+- :doc:`../developer_guide/index` — in-depth documentation for developers and contributors
+
+.. toctree::
+   :hidden:

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+.. developer_guide:
+
+================
+Developers Guide
+================
+
+The **EasyNav Developers Guide** provides a technical overview of the internal architecture of the framework and its main design principles.  
+It is intended for developers who wish to understand the codebase, extend the system with new modules, or contribute to its evolution.
+
+EasyNav is designed as a lightweight, modular navigation framework built on ROS 2.  
+Its architecture relies on clear interfaces, shared data structures, and composable components that can operate in both simulation and real robotic platforms.
+
+.. contents::
+   :local:
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents
+
+   design.rst
+   blackboard.rst
+   perceptions.rst
+   commanding.rst
+
+Overview
+========
+
+This guide is organized into several chapters, each covering a key subsystem of EasyNav:
+
+- **Design Principles** — Describes the architectural foundations of EasyNav, its modular organization, and execution model.  
+- **Blackboard and NavState** — Explains the shared memory model that interconnects all modules.  
+- **Perceptions System** — Details how sensory data is represented, processed, and accessed in a unified way.  
+- **Commanding Layer** — Describes how the planner, controller, and system nodes cooperate to generate robot motion.
+
+Each chapter provides conceptual explanations, code structure guidelines, and practical examples extracted from the current EasyNav implementation.
+
+
+
+Further Reading
+===============
+
+For installation and basic usage instructions, refer to the :doc:`../build_install/index` and :doc:`../getting_started/index` sections.  
+For stack-specific tutorials and usage examples, see the :doc:`../howtos/index`.