Update README.md to add native + wsl instructions

README.md

@@ -6,7 +6,7 @@ Rove is a robot developed by the Capra team at ÉTS. Utilizing ROS2 Humble, Rove
 
 Working in a dev container will allow you to have the same environnement as the CI and make sure that your code will work on another computer. It will also allow you to easily switch package version and test thing without breaking your computer.
 
-### Windows installation
+### Windows docker installation
 
 1. Install [Docker Desktop](https://www.docker.com/products/docker-desktop)
 2. Install [Visual Studio Code](https://code.visualstudio.com/)
@@ -17,9 +17,9 @@ Working in a dev container will allow you to have the same environnement as the
 7. Wait for the container to build
 8. Start Xserver with the ```-nowgl``` option (double click on the shortcut to open it if you use VcXsrv)
 
-### Linux installation
+### Linux docker installation
 
-Same as the windows installation, step 4 and 8 can be skiped.
+Same as the windows installation, step 4 and 8 can be skipped.
 
 Replace the DISPLAY environemnt variable in the .env file
 ```bash
@@ -34,9 +34,14 @@ cat /dev/input/event0
 
 **Suggestion:** Configure docker to be able to run as non-root user https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user
 
-## Native installation (Ubuntu 22.04 LTS, other distros not supported)
-Pour installer vcs tool et ROS: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id4
+## Native/WSL installation (Ubuntu 22.04 LTS, other distros not supported)
+
+To install ROS2 and vcs natively: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html 
+
+Note: At the step `sudo apt install ros-humble-desktop` do `sudo apt install ros-humble-desktop-full` instead.
+
 ```bash
+git clone https://github.com/gazebosim/ros_gz.git -b humble # Install gazebo locally
 git clone https://github.com/clubcapra/rove.git
 vcs import src < rove.repos
 colcon build --symlink-install
@@ -45,12 +50,18 @@ source install/setup.bash
 
 ## Running Rove in simulation
 
+IF YOU ARE RUNNING IN WSL: do this command
+```bash
+export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1
+```
+Do these commands to run the simulation
 ```bash
 colcon build --symlink-install
 source install/setup.bash
 ros2 launch rove_description sim.launch.py
 ```
 
+
 ## Running the controller with a usb cable
 
 ```bash