Update README.md

README.md

 # Description
 
+This project is intended to be used as a base class for ROS behavior tree clients.
+
+It provides:
+* Two internal variables to enable a behavior that allows the user to start, and stop the BT execution.
+* A **start_tree** and **stop_tree** function to allow the control of that varibles from C++.
+* A set of basic BT nodes. These BT nodes are:
+  * **NOP**: Async Action node that does nothing.
+  * **is_start_tree**: Condition to know if internal start variable is set to true.
+  * **async_is_start_tree**: Async function equal to *is_start_tree* but returning RUNNING instead of FAILURE.
+  * **is_not_stop_tree**: Condition to know if internal stop variable is set to false.
+  * **async_is_not_stop_tree**:  Async function equal to *is_not_stop_tree* but returning RUNNING instead of FAILURE.
+  * **set_start_tree**: Sync Action to set internal start variable.
+  * **set_stop_tree**: Sync Action to set internal stop variable.
+  * **reset_start_tree**: Sync Action to unset internal start variable.
+  * **reset_stop_tree**: Sync Action to unset internal stop variable.
+* A init function to register these BT nodes.
+* A set of Dynamic reconfigure checkbox to enable/disable all loggers.
+* A set of ros parameters to set the BT file to be executed.
+
+TODO: Add BT example with start/stop/restart structure.
+  
 # ROS Interface
 
+### Service servers
+- *~/set_parameters* ([dynamic_reconfigure/Reconfigure.srv](http://docs.ros.org/melodic/api/dynamic_reconfigure/html/srv/Reconfigure.html)):
+    Service to dynamically change the parameters of the node. Only the parameters defined in the .cfg file can be modified this way. 
+
+### topic publishers
+- */diagnostics* ([diagnostic_msgs/DiagnosticArray](http://docs.ros.org/api/diagnostic_msgs/html/msg/DiagnosticArray.html)):
+   Topic with all the diagnostics published by the node.
+
+### Parameters
+- **bt_client_rate** *(double; Default: 10.0; Max: 1000.0; Min: 0.1)*: The Tick rate.
+- **path** *(String)*: The BT trees' folder path.
+- **tree_xml_file** *(String)*: The BT tree xml file's name without extension.
+- **bt_client_enable_cout_logger** *(Bool; Default: false)*: Enables cout_ ogger.
+- **bt_client_enable_minitrace_logger** *(Bool; Default: false)*: Enables minitrace logger.
+- **bt_client_enable_file_logger** *(Bool; Default: false)*: Enables file logger.
+- **bt_client_enable_zmq_publisher** *(Bool; Default: false)*: Enables ZMQ publisher.
+- **START** *(Bool; Default: false)*: Intendet to be used to start the tree execution.
+- **STOP** *(Bool; Default: false)*: Intendet to be used to stop the tree execution.
+
 # Dependencies
-This base node has no dependencies.
+
+- [behaviortree_cpp_v3](https://github.com/BehaviorTree/BehaviorTree.CPP)
+- [iri_behaviortree](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_behaviortree)
 
 # How to use it