Update README

README.md

 # Description
 
-This ROS package contains physical descriptions of the Pioneer3 platform from 
-ActivMedia. The following files are provided:
-
- * Xacro macro to be included in higher level urdf or xacro files.
-
- * An example xacro file to be used as an example of use of the macro.
-
-This package also includes two launch files intended to simplify the use
-both the real and the simulated robot:
-
- * description.launch: loads the robot description with the appropiate model
-and creates an instance of the robot_state_publisher ROS node. It has two
-arguments:
- 
-  ** node_name: (default: pioneer3) base name given to the platform
-related nodes.
- 
-  ** model: (default: pioneer3_example) name of the xacro file to include.
-
- * wheel_static_transf.launch: publishes four static transforms, one for each
-of the wheels.
+This ROS package contains physical descriptions of the Pioneer3 platform from ActivMedia. 
 
 # Dependencies
 
 This node has the following dependencies:
 
   * [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo) (for simulation only)
+  * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+  * [xacro](http://wiki.ros.org/xacro)
+  * [tf](http://wiki.ros.org/tf)
 
 # Install
 
@@ -45,21 +28,33 @@ rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
 
 # How to use it
 
-The *pioneer3_example.xacro* file shows an example of how to include the xacro 
-macro in another xacro file.
+The following files are provided:
 
-The main xacro macro has the following parameters:
-
- * **name:** name of the sensor used to specify the frames and joints to allow 
+ * pioner3_example.xacro: an example xacro file of how to include the xacro 
+macro.
+ 
+ * pioneer3.xacro: xacro macro to be included in higher level urdf or xacro files.
+ 
+  ** name: name of the robot used to specify the frames and joints to allow 
 multiples instances.
 
- * **resolution:** Specify the type of mesh to use for visualization. It can 
-be either *high_res* or *low_res*.
+  ** sim_config: path and filename of the configuration file for the gazebo 
+plugin. See the [iri_skid_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
+documentation for a complete description of all the parameters.
+
+This package also includes two launch files intended to simplify the use
+both the real and the simulated robot:
+
+ * description.launch: loads the robot description with the appropiate model
+and creates an instance of the robot_state_publisher ROS node. It has these
+arguments:
+ 
+  ** ns: (default: pioneer3) base name given to the platform
+related nodes.
+ 
+  ** model: (default: pioneer3_example) name of the xacro file to include.
 
- * **sim_config:** path and filename of the configuration file for the gazebo 
-plugin. See the [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
-documentation for a complete description of all the plugin parameters.
+  ** static_wheels: (default: false) enables launching static transforms for wheel joints
 
-The [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
-package provides a default simulation plugin configuration file for the
-Pioneer3 platform.
+ * wheel_static_transf.launch: publishes four static transforms, one for each
+of the wheels.
\ No newline at end of file

package.xml

 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>iri_pioneer3_description</name>
   <version>0.1.0</version>
-  <description>The iri_pioneer3_description package</description>
+  <description>ROS package with URDF and mesh files for the Pioneer3 platform.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -25,29 +25,39 @@
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
   <!-- Authors do not have to be maintianers, but could be -->
   <!-- Example: -->
-  <author email="shernand@iri.upc.edu">Sergi Hernandez</author> -->
+  <author email="shernand@iri.upc.edu">Sergi Hernandez</author>
 
 
-  <!-- The *_depend tags are used to specify dependencies -->
+ <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
   <!-- Use build_depend for packages you need at compile time: -->
   <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>iri_skid_steering_gazebo</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>tf</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
+</package>
\ No newline at end of file

urdf/include/pioneer3.xacro

@@ -5,7 +5,7 @@
   <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3_wheel.xacro" />
   <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.gazebo" />
 
-  <xacro:macro name="pioneer3" params="name resolution sim_config">
+  <xacro:macro name="pioneer3" params="name sim_config">
 
     <link name="base_footprint"/>
 

urdf/pioneer3_example.xacro

@@ -6,6 +6,6 @@
   
   <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
 
-  <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_skid_steering_gazebo)/config/pioneer3_sim_config.yaml"/>
+  <xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_skid_steering_gazebo)/config/pioneer3_sim_config.yaml"/>
 
 </robot>