Update setup to include submodule installation

docs/setup.md

@@ -1,6 +1,7 @@
 ---
 title: "Setup"
 permalink: /setup
+description: "Installing or adding MPPI-Generic to your project"
 layout: page
 ---
 
@@ -13,11 +14,13 @@ On this page, we will try to give you a quick run-down on how to run MPPI-Generi
 MPPI-Generic relies on the following:
 * An NVIDIA GPU
 * GCC/G++
-* CUDA 10 or newer [(Installation instructions)](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html)
+* CUDA 10 or newer (CUDA 11.7+ is recommended but our library is compatible back to CUDA 10)
 * [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page)
 * [CMake](https://cmake.org/) 3.10 or newer
 * git and git-lfs
-* [yaml-cpp](https://github.com/jbeder/yaml-cpp) (for building unit tests)
+### Unit tests requirements
+* [yaml-cpp](https://github.com/jbeder/yaml-cpp)
+* python-pil
 
 ### Prerequisite setup (Ubuntu)
 1. Follow the instructions to install CUDA provided [here](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html).
@@ -26,9 +29,43 @@ MPPI-Generic relies on the following:
 ```bash
 sudo apt-get install libeigen3-dev libyaml-cpp-dev git git-lfs cmake gcc
 git lfs install
+# extra installs if you are wanting to build unit tests
+sudo apt-get install libyaml-cpp-dev python3-pil
 ```
 
-## Get MPPI-Generic
+## Using MPPI-Generic as a git submodule
+As MPPI-Generic is still developing its API, our recommended way to incorporate this library into your projects
+is through `git submodule`.
+Git submodules allow you to keep track of specific commits of other projects so you can ensure that your code
+will not break when the API is updated.
+Setting up a `git submodule` is rather straightforward.
+1. The following adds the MPPI-Generic codebase under a `submodules/MPPI-Generic` folder in your desired project.
+```bash
+cd /path/to/project-root
+mkdir -p submodules
+git submodule add https://github.gatech.edu/ACDS/MPPI-Generic.git submodules/MPPI-Generic
+```
+2. We now modify the root `CMakeLists.txt` of your project to add MPPI-Generic as a library your code can link to.
+Note that this is a header-only library written in CUDA, so your executables/libraries will need to be `*.cu` files
+for the correct compiler to be used.
+First, we will modify the languages your CMake project uses to add C++/CUDA support.
+```cmake
+project(YOUR_PROJECT_NAME LANGUAGES CXX CUDA)
+```
+3. Next, we add our CMake module configuration that sets up compilation flags such as which NVIDIA GPU architecture
+to compile for. After that, we add MPPI-Generic as a subdirectory and it is now ready for use.
+```cmake
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/submodules/MPPI-Generic")
+include(MPPIGenericToolsConfig)
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/submodules/MPPI-Generic)
+```
+4. Adding MPPI-Generic to your target in CMake just requires linking to the `MPPI::MPPI` template library.
+```cmake
+add_executable(test_executable test.cu)
+target_link_libraries(test_executable MPPI::MPPI)
+```
+
+## Installing MPPI-Generic
 If you want to use MPPI-Generic as a stand-alone library, we recommend cloning the git repo:
 ```bash
 git clone https://github.com/ACDSLab/MPPI-Generic.git