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docs/en/installation.md

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+# Framework Installation Guide
+
+First, you need to install [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html). A minimal installation is recommended.
+
+As the second step, you need to build [`ros2_control`](https://github.com/ros-controls/ros2_control) from source using this [fork](https://github.com/solid-sinusoid/ros2_control/tree/gz-ros2-cartesian-controllers). Alternatively, you can use the [`vcstool`](https://github.com/dirk-thomas/vcstool) method, which is included with the basic ROS2 packages.
+
+If using `vcstool`, the required packages will be cloned into the same workspace as the framework. The command would look like this:
+```sh
+vcs import . < robossembler-ros2/repos/all-deps.repos
+```
+
+Additionally, you can run the following command to install all required Python libraries:
+```shell
+pip install -r robossembler-ros2/repos/requirements.txt
+```
+
+> [!IMPORTANT]  
+> Note that to run the above command, you need to install `git lfs` since the `requirements.txt` file includes the `rbs_assets_library` module, which contains large files but is installed as a Python module.
+
+Make sure to execute this command in the `{robossembler_ws}/src/` directory.
+
+For those who prefer a concise sequence of commands, here it is:
+```sh
+cd 
+mkdir -p robossembler-ros2/src && cd robossembler-ros2
+git clone https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2
+# Or if you prefer Radicle:
+rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip
+cd src
+vcs import . < robossembler-ros2/repos/all-deps.repos
+pip install -r robossembler-ros2/repos/requirements.txt
+cd ..
+rosdep install --from-paths src -y --ignore-src
+colcon build --symlink-install
+```