Update README.md

README.md

@@ -4,34 +4,48 @@ ROS node to acquire RGB and 3D data from SoftKinetic DepthSense cameras (for ins
 Based on the ROS node developed by Walter Lucetti aka Myzhar https://github.com/Myzhar/ros_depthsense_camera.
 
 This node fix a problem, that we had, with the integration with ros_pcl. This problem appeared when we
-try to convert PointCloud2 message in pcl PointCloud, our program raised this error message:
+try to convert PointCloud2 message in pcl PointCloud, our programs raised this error message:
 ```
-Failed to find match for field 'x'.
-Failed to find match for field 'y'.
-Failed to find match for field 'z'.
+    Failed to find match for field 'x'.
+    Failed to find match for field 'y'.
+    Failed to find match for field 'z'.
 ```
 
+## How to Install
+First you must install the Depth Sense SDK. If you don't have Depth Sense SDK installed on your machine 
+first you must sign up SoftKinetic official web page (http://www.softkinetic.com/), and then you can
+download SDK for x86 or x64 machines.
+If you have an ARM machine you can get the SDK asking for it in the "Contact Us" section. They don't send
+the SDK to e-mail addresses like gmail, yahoo, etc, you must have an institutional address.
 
-
-## Note by Myzhar
-If you get an exception error of the type:
-```
-ERROR: no enumerator found, some dll files are missing"                  
-```
-you must run this command in a terminal:                                 
-
-###64 bit systems:  
-```
-$ sudo ln -s /lib/x86_64-linux-gnu/libudev.so.1.3.5 /usr/lib/libudev.so.0 
-```
-###32 bit systems:                               
-```
-$ sudo ln –s /lib/i386-linux-gnu/libudev.so.1 /usr/lib/libudev.so.0       
-```
-
-To be able to access the video streams you need to add your user to the  
-video" usergroup entering the following commands:                        
-```
-$ sudo adduser ubuntu video [replace "ubuntu" with your current username] 
-$ sudo chmod g+rw /dev/video*                                             
-```
\ No newline at end of file
+If you have installed the Depth Sense SDK you must follow this steps:
+    1. Clone the repository in the src directory of your ROS workspace, for example:
+    ```
+        cd ~/catkin_ws/src
+        git clone https://gitlab.citius.usc.es/david.sanchez/ros_depthsense_camera.git
+    ```
+    2. From the root directory of your workspace do catkin_make. Following our example:
+    ```
+        cd..
+        catkin_make
+    ```
+    
+## How to run
+    1. From the root directory of your workspace do:
+    ```
+        source devel/setup.bash
+    ```
+    2. Then execute:
+    ```
+        rosrun ros_depthsense_camera depthsense_camera_node
+    ```
+    
+## Published Topics
+    This node publish the following topics:
+        1. /vertex_data is a sensor_msgs/PointCloud2 topic
+        2. /rgb_image is a sensor_msgs/Image topic
+        
+## Published TFs
+    This node publish the following TFs:
+        1. /depth_frame
+        2. /rgb_frame