diff --git a/add_action_server_client.sh b/add_action_server_client.sh
index f0c05835e6c5f935491632ac547796af8533de7e..ac6639ed98033e60737065cbba36758d599a7ab9 100755
--- a/add_action_server_client.sh
+++ b/add_action_server_client.sh
@@ -123,4 +123,4 @@ else
 fi
 
 type="action"
-fill_readme_ros_interface ${type} ${server_client} ${ros_pkg} ${action_name} ${file_pkg} ${action_file}.action
\ No newline at end of file
+fill_readme_ros_interface ${type} ${server_client} ${ros_pkg} ${action_name} ${file_pkg} ${action_file}.action "false"
\ No newline at end of file
diff --git a/add_service_server_client.sh b/add_service_server_client.sh
index bfb820f416c5f205f660498ad0c3f0d2a10533e1..8d19a9f3a7c901260f58f75a8b56e86dbc889879 100755
--- a/add_service_server_client.sh
+++ b/add_service_server_client.sh
@@ -122,4 +122,4 @@ else
 fi
 
 type="service"
-fill_readme_ros_interface ${type} ${server_client} ${ros_pkg} ${service_name} ${file_pkg} ${srv_file}
\ No newline at end of file
+fill_readme_ros_interface ${type} ${server_client} ${ros_pkg} ${service_name} ${file_pkg} ${srv_file} "false"
\ No newline at end of file
diff --git a/add_tf_listener_broadcaster.sh b/add_tf_listener_broadcaster.sh
index 263bff1671ab991e1b9dbad40e3a7641af307cf0..dbf4b91f01f816c7ff90a876841cdfa4419440a7 100755
--- a/add_tf_listener_broadcaster.sh
+++ b/add_tf_listener_broadcaster.sh
@@ -96,4 +96,7 @@ then
   create_tf_broadcaster  ${ros_pkg} ${node_h} ${node_c} ${driver_alg}
 else
   create_tf_listener     ${ros_pkg} ${node_h} ${node_c} ${driver_alg}
-fi
\ No newline at end of file
+fi
+
+type="topic"
+fill_readme_ros_interface ${type} ${pub_subs} ${ros_pkg} "tf" "tf" "tfMessage" "true"
\ No newline at end of file
diff --git a/add_topic_publisher_subscriber.sh b/add_topic_publisher_subscriber.sh
index 17a44615bdc82bc78a0f6646115ca7d8259a67c3..5504b8b21c6c89374fee801904e6f70b4e68c6d8 100755
--- a/add_topic_publisher_subscriber.sh
+++ b/add_topic_publisher_subscriber.sh
@@ -145,4 +145,4 @@ else
 fi
 
 type="topic"
-fill_readme_ros_interface ${type} ${pub_subs} ${ros_pkg} ${topic_name} ${file_pkg} ${msg_file}
\ No newline at end of file
+fill_readme_ros_interface ${type} ${pub_subs} ${ros_pkg} ${topic_name} ${file_pkg} ${msg_file} "false"
\ No newline at end of file
diff --git a/common_templates/README.md b/common_templates/README.md
index c769329714cdb632c5734e4c0cfc6d44fbcb0e4b..fdc7a68530aa086a812a320114f31b92274a57f0 100644
--- a/common_templates/README.md
+++ b/common_templates/README.md
@@ -8,18 +8,6 @@ Developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) (ww
 Contact: labrobotica@iri.upc.edu
 
 # ROS Interface
-    
-### Topic subscribers
-
-### Topic publishers
-
-### Service servers
-
-### Service clients
-
-### Action servers
-
-### Action clients
 
 ### Parameters
 - ~rate (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz. 
diff --git a/libraries/scripts_library.sh b/libraries/scripts_library.sh
index 5b0d3a1315ba7b9d846f9f472998c314d48d7655..ad1748396783eacf175d3ca63b184368fe927a52 100755
--- a/libraries/scripts_library.sh
+++ b/libraries/scripts_library.sh
@@ -279,13 +279,13 @@ function add_pkg_dependency_to_readme
 # - $4: interface name
 # - $5: interface package
 # - $6: interface message
-function fill_readme_ros_interface # ${type} ${pub_subs} ${ros_pkg} ${topic_name} ${file_pkg} ${msg_file}
+function fill_readme_ros_interface # ${type} ${pub_subs} ${ros_pkg} ${topic_name} ${file_pkg} ${msg_file} ${absolute_ns}
 {
   if [[ -z $1 ]] || [[ -z $2 ]] || [[ -z $3 ]] || [[ -z $4 ]] || [[ -z $5 ]] || [[ -z $6 ]]
   then
     kill_exit "ERROR: fill_readme_ros_interface missing input parameters"
   fi
-  
+
   #echo "fill_readme_ros_interface $1 $2 $3 $4 $5 $6"
   local if_type=$1
   local if_subtype=$2
@@ -293,12 +293,22 @@ function fill_readme_ros_interface # ${type} ${pub_subs} ${ros_pkg} ${topic_name
   local if_name=$4
   local if_pkg=$5
   local if_msg=$6
+  local absolute_ns=$7  
   
   roscd "${ros_pkg}"
   
-  file=README.md
-  line="  - ~$if_name ($if_pkg/$if_msg)"
-  comment=""
+  local file=README.md
+  local line=""
+  local comment=""
+  
+  echo "Filling $file with ROS Interfaces information..."
+
+  if [ "$absolute_ns" = true ]
+  then
+    line="  - /$if_name ($if_pkg/$if_msg)"
+  else
+    line="  - ~$if_name ($if_pkg/$if_msg)"
+  fi
   
   case "$if_type" in
   "topic")
@@ -310,6 +320,12 @@ function fill_readme_ros_interface # ${type} ${pub_subs} ${ros_pkg} ${topic_name
       "subscriber")
         comment="### Topic subscribers"
         ;;
+      "broadcaster")
+        comment="### Topic publishers"
+        ;;
+      "listener")
+        comment="### Topic subscribers"
+        ;;
       esac
       ;;
   "service")
@@ -333,6 +349,8 @@ function fill_readme_ros_interface # ${type} ${pub_subs} ${ros_pkg} ${topic_name
       esac
       ;;
   esac
+  
+  add_line_to_file "${comment}" "# ROS Interface" "${file}"
 
   add_line_to_file "${line}" "${comment}" "${file}"
 }
@@ -417,7 +435,8 @@ function add_line_to_file
 
   if [[ -z "${line_found}" ]]
   then
-    sed -i -e "/${comment}/a\\${line_to_add}" "${file}"
+    #echo "Adding line after comment: ${line_to_add} after ${comment_to_find}"
+    sed -i -e "/${comment_to_find}/a\\${line_to_add}" "${file}"
   else
     #skip line
     echo "File ${file} already included the line, skipping..."