Update readme, add building instructions

docs/build.md

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+# Building and running
+
+## Simulation
+
+Dependencies are [Gazebo Classic simulator](https://classic.gazebosim.org) and [SDL2](https://www.libsdl.org) library.
+
+### Ubuntu
+
+1. Install Gazebo 11:
+
+   ```bash
+   curl -sSL http://get.gazebosim.org | sh
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+   source ~/.bashrc
+   ```
+
+2. Install SDL2:
+
+   ```bash
+   sudo apt-get install libsdl2-dev
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### macOS
+
+1. Install Homebrew package manager, if you don't have it installed:
+
+   ```bash
+   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+   ```
+
+2. Install Gazebo 11 and SDL2:
+
+   ```bash
+   brew tap osrf/simulation
+   brew install gazebo11
+   brew install sdl2
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+## Firmware
+
+### Arduino IDE (Windows, Linux, macOS)
+
+1. Install [Arduino IDE](https://www.arduino.cc/en/software).
+2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
+3. Build and upload the firmware using Arduino IDE.
+
+### Command line (Windows, Linux, macOS)
+
+1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
+2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
+3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
+
+   ```bash
+   make
+   ```
+
+   You can flash the firmware to the board using command:
+
+   ```bash
+   make upload
+   ```
+
+   You can also compile the firmware, upload it and start serial port monitoring using command:
+
+   ```bash
+   make upload monitor
+   ```
+
+See other available Make commands in the [Makefile](../Makefile).