Update README

ReadMe.md

-Scripts-catkin
+IRI_ROS_SCRIPTS
 ==============
 
 ## Description
 
-Set of scripts to easily generate driver and algorithm packages in ROS, and also a set of scripts to add publishers, subscribers, service clients an servers and action clients and servers to an existing package.
+Set of scripts to easily generate driver and algorithm packages in ROS, and also a set of scripts to add topic publishers and subscribers, service clients and servers, action clients and servers and tf listeners and broadcasters to existing package nodes.
+
+- Create packages: the following scripts create a new ROS package containing a single ROS node (which inherits from IRI ROS base classes), a dynamic reconfigure file, sample launch files, LICENSE and README files. 
+    - create_algorithm_package.sh: the created ROS node inherits from [iri_base_algorithm](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_algorithm) class.
+    - create_driver_package.sh:    the created ROS node inherits from [iri_base_driver](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_driver) class.
+- Add communication interfaces: the following scripts modify the node inside the target ROS package (which must have the IRI structure). They add the dependencies to the specified message types, the objects variables and callback functions if needed, and some commented code examples on how to use them.
+    - add_topic_publisher_subscriber.sh
+    - add_service_server_client.sh
+    - add_action_server_client.sh
+    - add_tf_listener_broadcaster.sh
 
 ## Installation
 
-- Clone this repository: `git clone ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/scripts-catkin.git -b kinetic_migration scripts`
+- Clone this repository
 
-- Install realpath:`sudo apt-get install realpath`
+- Install realpath:
 
-- ``echo "source `pwd`/scripts/setup.bash" >> ~/.bashrc``
+      sudo apt-get install realpath
 
-- `source ~/.bashrc`
+- Source the setup.bash file contained in the repository. 
 
-## How to use it
+      source /path/to/iri_ros_scripts/setup.bash
 
-### create_algorithm_package.sh and create_driver_package.sh
+- You can add that line to your `~/.bashrc` so it is automatically loaded.
 
-These scripts have the following arguments:
 
+## How to use it
+```
+create_algorithm_package.sh -n node_name [-i][-p prefix]
+```
 - **-n node\_name**: The node's name. It has a default 'iri\_' prefix.
 - **-i**: (optional) Avoid adding the default iri_ prefix to the provided node name.
 - **-p prefix**: (optional) Replaces default 'iri\_' prefix with specified 'prefix\_'.
-
-### add_topic_publisher_subscriber.sh
-
-This script has the following parameters:
-
+```
+create_driver_package.sh -n node_name [-i][-p prefix]
+```
+- **-n node\_name**: The node's name. It has a default 'iri\_' prefix.
+- **-i**: (optional) Avoid adding the default iri_ prefix to the provided node name.
+- **-p prefix**: (optional) Replaces default 'iri\_' prefix with specified 'prefix\_'.
+```
+add_topic_publisher_subscriber.sh -o <publisher,subscriber> -p ros_pkg_name -t topic_name -m message.msg -b #
+```
 - **-o \[publisher, subscriber\]**: To add a publisher or a subscriber.
 - **-p ros\_pkg\_name**: The target ros package.
 - **-t topic\_name**: The topic's name. **It must not have a backslash (\\) nor any whitespace characters**.
 - **-m message**: The topic's message.msg.
 - **-b buffer\_length**: The buffer's length (usually 1).
-
-### add_service_server_client.sh
-
-This script has the following parameters:
-
+```
+add_service_server_client.sh -o <server,client> -p ros_pkg_name -s service_name -m service.srv
+```
 - **-o \[server, client\]**: To add a service server or client.
 - **-p ros\_pkg\_name**: The target ros package.
 - **-s service\_name**: The service's name. **It must not have a backslash (\\) nor any whitespace characters**.
 - **-m service**: The service's service.srv.
-
-### add_action_server_client.sh
-
-- **-o \[server, client\]**: To add aaction server or client.
+```
+add_action_server_client.sh -o <server,client> -p ros_pkg_name -a action_name -m action.action
+```
+- **-o \[server, client\]**: To add an action server or client.
 - **-p ros\_pkg\_name**: The target ros package.
 - **-a action\_name**: The action's name. **It must not have a backslash (\\) nor any whitespace characters**.
 - **-m message**: The action's message.action.
-
-
-
-
-
-
-
+```
+add_tf_listener_broadcaster.sh -o <listener,broadcaster> -p ros_pkg_name
+```
+- **-o \[listener, broadcaster\]**: To add a tf listener or broadcaster.
+- **-p ros\_pkg\_name**: The target ros package.
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