diff --git a/README.md b/README.md
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+++ b/README.md
@@ -1,11 +1,11 @@
 # Description
 This project is intended to be used as a base class for ROS nodes that have to communicate with external hardware. The next diagram shows the basic structure of the IRI ROS base driver node:
 
-<img src="doc/images/LabRobotica_Philosophy.png" alt="Basic structure of the IRI ROS base driver node" width="1103" height="596">
+<img src="doc/images/iri_base_driver_diagram.png" alt="Basic structure of the IRI ROS base driver node" width="998" height="630">
 
 This node was originally based on the [ROS driver_base node](http://wiki.ros.org/driver_base) which is now deprecated. Since then, it re-implements most of the driver_base features.
 
-This node is structured into two parts:
+This node is structured into two parts, both implemented as C++ classes:
 
 ## Driver
 This part is intended for the implementation of the driver itself. The use of an external library to implement the driver is strongly recommended to separate the driver functionality from the ROS middleware. However it is also possible to implement the driver here. The main features of this part are listed next, and a detailed description can be found below.
@@ -30,7 +30,7 @@ In addition to the driver transition action functions, a set of callback functio
 </details>
 
 ## Driver node
-This part is intended for the implementation of the ROS interfaces (topics, services and actions) and other ROS tools. The main features of this part are listed next, and a detailed description can be found below.
+This part is intended for the implementation of the ROS interfaces (topics, services and actions) and other ROS tools. It has an object of the driver class to have access to have full access to the driver functionalities. The main features of this part are listed next, and a detailed description can be found below.
 
 * Independent thread with configurable rate.
 * Dynamic reconfigure server.
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