feat(lifecycle & hw): added serial lib and serial comunication functions with params.

doc/installation/installation.md

@@ -40,4 +40,59 @@ You can configure specific database settings in the `docker-compose.yaml` in the
 ```bash
 ros2 launch g2_2025_imu_reader_pkg imu_reader.launch.xml
 ```
+<<<<<<< HEAD
 To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
+=======
+To change parameters when using the launch file it will need to be edited in the `src/g2_2025_grade_calculator_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
+
+
+
+### installation and setup for mqtt
+
+```bash
+sudo apt install mosquitto
+
+sudo apt-get install libpaho-mqtt-dev
+
+
+git clone https://github.com/eclipse/paho.mqtt.cpp
+cd paho.mqtt.cpp
+git co v1.5.4
+git submodule init
+git submodule update
+
+cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_EXAMPLES=ON
+sudo cmake --build build/ --target install
+```
+
+## for launching lifecycle mqtt node
+
+first:
+```bash
+ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node --ros-args -p comm_t:='mqtt'
+```
+
+in other terminal:
+
+```bash
+mosquitto -p 1884
+```
+
+and in other terminal to inialize the subsecriber:
+```bash
+
+ros2 lifecycle set /lifecycle_manager configure
+ros2 lifecycle set /lifecycle_manager activate
+
+```
+
+an finally publish a mesg to the sub in other terminal:
+
+```bash
+mosquitto_pub -h localhost -p 1884 -t "esp32/imu" -m "nirvana"
+```
+close conn via:
+```bash
+ros2 lifecycle set /lifecycle_manager deactivate
+```
+>>>>>>> 8b04168 (feat(lifecycle & hw): added mqtt connection and installation setup)