tutorials/install: Added Windows instructions

Signed-off-by: Martin Pecka <peci1@seznam.cz>

Author: peci1

tutorials/install.md

@@ -1,7 +1,8 @@
 \page install Installation
 
-These instructions are for installing only Gazebo. If you're interested
-in using all the Gazebo libraries, not only Igniton Gazebo, check out this
+These instructions are for installing only Gazebo Sim. If you're interested
+in using all the Gazebo libraries including gz-launch, or to install all
+libraries from source, check out
 [Gazebo installation](https://gazebosim.org/docs/latest/install).
 
 We recommend following the binary install instructions to get up and running as
@@ -50,6 +51,27 @@ installing Gazebo from source.
   brew install gz-sim<#>
   ```
 
+### Windows
+
+First, follow the [gz-cmake](https://gazebosim.org/api/cmake/4/install.html) tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
+
+Navigate to ``condabin`` if necessary to use the ``conda`` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of ``condabin`` in Anaconda Prompt, ``where conda``).
+
+Create if necessary, and activate a Conda environment:
+```
+conda create -n gz-ws
+conda activate gz-ws
+```
+
+Now install Gazebo.
+
+```
+conda install gz-sim<#> --channel conda-forge
+```
+
+Be sure to replace `<#>` with a number value, such as 8 or 9, depending on
+which version you need.
+
 ## Source Install
 
 Install from source if you're interested in changing the source code or need a
@@ -115,6 +137,43 @@ feature which hasn't been released yet.
   sudo make install
   ```
 
+### Windows
+
+This assumes you have created and activated a Conda environment (the same way as in the
+binary install).
+
+1. Install Gazebo dependencies:
+
+  You can view available versions and their dependencies:
+  ```
+  conda search libgz-sim* --channel conda-forge --info
+  ```
+
+  Install the dependencies, replacing `<#>` with the required versions:
+  ```
+  conda install gz-cmake<#> gz-common<#> gz-fuel-tools<#> gz-gui<#> gz-math<#> gz-msgs<#> gz-physics<#> gz-plugin<#> gz-rendering<#> gz-sensors<#> gz-tools<#> gz-transport<#> gz-utils<#> sdformat<#> --channel conda-forge
+  ```
+
+2. Navigate to where you would like to build the library, and clone the repository.
+  ```
+  # Optionally, append `-b gz-sim#` (replace # with a number) to check out a specific version
+  git clone https://github.com/gazebosim/gz-sim.git
+  ```
+
+3. Configure and build
+  ```
+  cd gz-sim
+  mkdir build
+  cd build
+  cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
+  cmake --build . --config Release
+  ```
+
+4. Optionally, install
+  ```
+  cmake --install . --config Release
+  ```
+
 ## Documentation
 
 API documentation and tutorials can be accessed at [https://gazebosim.org/libs/gazebo](https://gazebosim.org/libs/gazebo)
@@ -123,7 +182,10 @@ You can also generate the documentation from a clone of this repository by follo
 
 1. You will need [Doxygen](http://www.doxygen.org/). On Ubuntu Doxygen can be installed using
   ```
+  # Linux
   sudo apt-get install doxygen
+  # Windows
+  conda install doxygen --channel conda-forge
   ```
 
 2. Clone the repository
@@ -137,7 +199,7 @@ You can also generate the documentation from a clone of this repository by follo
   mkdir build
   cd build
   cmake ../
-  make doc
+  cmake --build . --target doc
   ```
 
 4. View the documentation by running the following command from the `build` directory.