Add Windows installation (#463)

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>

README.md

@@ -1,4 +1,4 @@
-# sdformat #
+# sdformat
 
 SDFormat is an XML file format that describes environments, objects, and robots
 in a manner suitable for robotic applications. SDFormat is capable of representing
@@ -13,31 +13,130 @@ allows conversion from previous versions.
 * libsdformat - The C++ parsing code contained within this repository,
   which can be used to read SDFormat files and return a C++ interface.
 
+[http://sdformat.org/](http://sdformat.org/)
+
 Test coverage:
 
 [![codecov](https://codecov.io/bb/osrf/sdformat/branch/default/graph/badge.svg)](https://codecov.io/bb/osrf/sdformat)
 
+# Installation
+
+We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
+
+The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
+
+## Binary Installation
+
+### Ubuntu
+
+On Ubuntu systems, `apt-get` can be used to install `sdformat`:
+```
+sudo apt install libsdformat<#>-dev libsdformat<#>
+```
+
+Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
+which version you need, or leave it empty for version 1.
+
+### Windows
+
+Install [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
+Miniconda suffices.
+
+Create if necessary, and activate a Conda environment:
+```
+conda create -n ign-ws
+conda activate ign-ws
+```
+
+Install `sdformat`:
+```
+conda install libsdformat --channel conda-forge
+```
+
+You can view all the versions with
+```
+conda search libsdformat --channel conda-forge
+```
+
+and install a specific minor version with
+```
+conda install libsdformat=9.3.0 --channel conda-forge
+```
+
+## Source Installation
 
-## Installation ##
+## UNIX
+
+#### Build from Source
 
 Standard installation can be performed in UNIX systems using the following
 steps:
-
- - mkdir build/
- - cd build/
- - cmake ..
- - sudo make install
+```
+mkdir build
+cd build
+cmake ..
+sudo make install
+```
 
 sdformat supported cmake parameters at configuring time:
- - USE_INTERNAL_URDF (bool) [default False]
+ - `USE_INTERNAL_URDF` (`bool`) [default `False`]
    Use an internal copy of urdfdom 1.0.0 instead of look for one
    installed in the system
- - USE_UPSTREAM_CFLAGS (bool) [default True]
+ - `USE_UPSTREAM_CFLAGS` (`bool`) [default `True`]
    Use the sdformat team compilation flags instead of the common set defined
    by cmake.
 
-## Uninstallation ##
+## Uninstallation
 
 To uninstall the software installed with the previous steps:
- - cd build/
- - sudo make uninstall
+```
+cd build
+sudo make uninstall
+```
+
+## Windows
+
+### Prerequisites
+
+Install [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
+Miniconda suffices.
+
+Create if necessary, and activate a Conda environment:
+```
+conda create -n ign-ws
+conda activate ign-ws
+```
+
+Install prerequisites:
+```
+conda install urdfdom --channel conda-forge
+```
+
+Install Ignition dependencies:
+
+You can view lists of dependencies:
+```
+conda search libsdformat --channel conda-forge --info
+```
+
+Install dependencies, replacing `<#>` with the desired versions:
+```
+conda install libignition-math<#> libignition-tools<#> --channel conda-forge
+```
+
+### Build from Source
+
+This assumes you have created and activated a Conda environment while installing the Prerequisites.
+
+1. Configure and build
+  ```
+  mkdir build
+  cd build
+  cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
+  cmake --build . --config Release
+  ```
+
+2. Install
+  ```
+  cmake --install . --config Release
+  ```