added ROS2 workspace installation guide

Author: petrlmat

docs/20-installation/40-ros2-workspace-installation.md

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+---
+title: ROS2 workspace installation
+pagination_label: Building the MRS ROS2 in workspace
+description: Building the MRS ROS2 in workspace
+---
+
+# Workspace build of the ROS2 MRS UAV System
+
+This guide is meant mainly for developers of the ROS2 MRS UAV System.
+Users of the system that do not need to modify the core of the system can stick to the deb installation
+
+## Installation steps
+
+### 1. Install the Robot Operating System (Jazzy)
+
+  Follow the [Installation](https://ctu-mrs.github.io/docs/prerequisities/ros2/installation) guide. 
+
+### 2. Install necessary dependencies
+
+Add the Personal Package Archive (PPA) for unstable ROS2 MRS deb packages:
+```bash
+curl https://ctu-mrs.github.io/ppa2-unstable/add_ppa.sh | bash
+sudo apt update
+```
+
+Install the dependencies:
+```bash
+sudo apt install mrs-uav-shell-additions ros-jazzy-nlopt ros-jazzy-rmw-zenoh-cpp
+```
+  * `mrs-uav-shell-additions` - installs tmux config file to `/etc/ctu-mrs/tmux.conf` (necessary for running simulation tmux sessions)
+  * `ros-jazzy-rmw-zenoh-cpp` - the ROS MiddleWare (RMW) implementation of Zenoh communication protocol
+  * `ros-jazzy-nlopt` - necessary for `mrs_uav_trajectory_generation` package
+
+Add to `~/.bashrc` (`~/.zshrc`):
+```
+export RMW_IMPLEMENTATION="rmw_zenoh_cpp"
+```
+
+### 3. Get aliases that make common ROS2 commands usable
+
+```bash
+cd ~/git
+git clone git@github.com:ctu-mrs/mrs_uav_development.git
+cd mrs_uav_development
+git checkout ros2
+```
+
+Add to `~/.bashrc` (`~/.zshrc`): 
+```bash
+source $GIT_PATH/mrs_uav_development/shell_additions/shell_additions.sh
+```
+
+### 4. Clone the MRS UAV Core repository
+
+```bash
+cd ~/git
+git clone git@github.com:ctu-mrs/mrs_uav_core.git
+cd mrs_uav_core
+git checkout ros2
+gitman install
+```
+
+### 5. Prepare the workspace
+
+```bash
+mkdir -p ~/ws_mrs_uav_core/src
+ln -s $GIT_PATH/mrs_uav_core $HOME/ws_mrs_uav_core/src/
+```
+
+Set the compilation flags to `rel-with-deb-info` using mixin according to:
+https://ctu-mrs.github.io/docs/prerequisities/ros2/ros1-ros2-patterns/workspace_profiles
+
+First, install mixin:
+```bash
+sudo apt install python3-colcon-mixin
+colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+colcon mixin update default
+```
+
+Add the following config to `~/ws_mrs_uav_core/colcon_default.yaml`:
+```yaml
+build:
+  parallel-workers: 8
+  mixin:
+    - rel-with-deb-info
+```
+
+Add to `~/.bashrc` (`~/.zshrc`):
+```bash
+source /opt/ros/jazzy/setup.bash
+```
+
+Source `~/.bashrc` (`~/.zshrc`):
+```bash
+source ~/.bashrc
+```
+
+### 6. Build the workspace
+```bash
+cd ~/ws_mrs_uav_core/
+colcon build
+```
+
+Add to `~/.bashrc` (`~/.zshrc`):
+```bash
+source $HOME/ws_mrs_uav_core/install/setup.bash
+```
+
+### 7. Run the multirotor simulation session to verify the installation
+```bash
+cd ~/ws_mrs_uav_core/src/mrs_uav_core/ros_packages/mrs_multirotor_simulator/tmux/mrs_one_drone/
+./start.sh
+```
+
+# Troubleshooting
+
+## Optimization flags 
+* Issue: Estimation manager is outputting errors with `time since last msg too long`
+* Reason: Workspace is built without optimization flags.
+* Solution: See step 5. and make sure the workspace is built with `rel_with_deb_info`
+
+## Tmux config
+* Issue: After running the tmux session, the terminal looks weird and tmux bindings don't work
+* Reason: tmux config is missing in /etc/ctu-mrs/tmux.conf
+* Solution: `sudo apt install mrs-uav-shell-additions`
+
+## MRS UAV testing not building
+* Issue: The package `mrs_uav_testing` is not building 
+* Reason: It hasn't been converted to ROS2 yet.
+* Solution: `touch ~/ws_mrs_uav_core/src/mrs_uav_core/ros_packages/mrs_uav_testing/COLCON_IGNORE`
+