diff --git a/README.md b/README.md
index a29f8eb7e0bb73b6adea853e8581418126a91de5..ed826a985052c7c52fa0f59fcf1f0f51352c7f68 100644
--- a/README.md
+++ b/README.md
@@ -16,11 +16,14 @@ This library is intendend to expand the [behaviortree](https://github.com/Behavi
 
   This is acomplished with the definition of a new class **IriBehaviorTreeBasicNodes** that implements this basic BT nodes and provides a function called *init* to register these BT nodes.
 
+  The basic nodes provided are:
+  * **NOP:** Action that always return running.
+
  On the following image a general overview of the inheritance is shown:
 
 <img src="doc/images/general_overview.png" alt="Image: General overview">
 
-These new features allow us to adapt the use of BehaviorTrees to the IRI framework and to add a BehaviorTree layer for the [IRI modules](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools#iri-ros-modules). This module BT layer is just a shared library that wraps the C++ Module API providing a set of BehaviorTree actions and conditions to allow the user to use the module inside a behavior tree. On the following image, a sketch of this wrapper ism shown:
+These new features allow us to adapt the use of BehaviorTrees to the IRI framework and to add a BehaviorTree layer for the [IRI modules](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools#iri-ros-modules). This module BT layer is just a shared library that wraps the C++ Module API providing a set of BehaviorTree actions and conditions to allow the user to use the module inside a behavior tree. On the following image, a sketch of this wrapper is shown:
 
 <img src="doc/images/bt_module_layer.png" alt="Image: BT module layer sketch">
 
@@ -36,7 +39,6 @@ These new features allow us to adapt the use of BehaviorTrees to the IRI framewo
 
 ## How to use it
 
-Substitute the *BehaviorTreeFactory* object with an *IriBehaviorTreeFactory* object. To add an *IriAsyncActionNode*
-just call *registerIriAsyncAction* on the same way that a *registerSimpleAction* would be called.
+Add the iri_behaviortree ROS dependency to your node and create (or substitute the *BehaviorTreeFactory* object with) an *IriBehaviorTreeFactory* object. To add an *IriAsyncActionNode* just call *registerIriAsyncAction* on the same way that a *registerSimpleAction* would be called.
 
 To register the basic BT nodes just create an object of *IriBehaviorTreeBasicNodes* and call its *init* function.