Update README

README.md

 # Description
 
-This ROS package contains physical descriptions of the Ana robot build
-at IRI. The following files are provided:
-
- * Xacro macro with all the sensors available on the robot.
-
- * Main xacro file to be used to import the robot.
-
-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: ana) base name given to the robot related nodes.
-This parameter is useful when dealing with multiple instances of the same
-robot.
-
-  ** model: (default: ana) name of the xacro file to include. This parameter 
-is useful to specify different configurations of the same robot.
+This ROS package contains physical descriptions of the Ana robot, based on the Pioneer3 platform from ActivMedia. 
 
 # Dependencies
 
 This node has the following dependencies:
 
- * [iri_pioneer3_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_description)
-
- * [iri_bno055_imu_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_bno055_imu_description)
-
- * [iri_velodyne_lidar_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_description)
-
-Additionally, for simulation the following dependencies are also required:
-
- * [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
-
- * [iri_imu_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_imu_gazebo)
-
- * [iri_velodyne_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_gazebo)
+  * [iri_pioneer3_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_description)
+  * [iri_bno055_imu_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_bno055_imu_description)
+  * [iri_velodyne_lidar_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_description)
+  * [iri_realsense_depth_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/depth/iri_realsense_depth_description)
+  * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+  * [xacro](http://wiki.ros.org/xacro)
 
 # Install
 
@@ -47,7 +21,7 @@ repository inside the active workspace:
 ```
 roscd
 cd ../src
-git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_description.git 
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description.git 
 ```
 
 However, this package is normally used as part of a wider installation (i.e. a
@@ -56,10 +30,21 @@ rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
 
 # How to use it
 
-The *ana.xacro* file can be used to import the robot description for the real 
-robot and to spawn it in simulation.
+The following files are provided:
 
-The main xacro macro has the following parameters:
+ * helena.xacro: an example xacro file of how to include the xacro 
+macro.
 
- * **name:** (default: ana) name of the robot in case there ara several instances.
+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: ana) base name given to the platform
+related nodes.
+ 
+  ** model: (default: ana_example) name of the xacro file to include.
 
+  ** static_wheels: (default: false) enables launching static transforms for wheel joints
\ No newline at end of file

package.xml

@@ -2,12 +2,12 @@
 <package format="2">
   <name>iri_ana_description</name>
   <version>0.0.0</version>
-  <description>The iri_ana_description package</description>
+  <description>Set of urdf and xacro files to describe the robot</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+  <maintainer email="labrobotica@iri.upc.edu">IRI_labrobotica</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -32,12 +32,7 @@
   <!-- 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> -->
-  <depend>iri_pioneer3_description</depend>
-  <depend>iri_ana_gazebo</depend>
-  <depend>iri_velodyne_lidar_description</depend>
-  <depend>iri_velodyne_gazebo</depend>
-  
+  <!--   <depend>roscpp</depend> -->  
   <!--   Note that this is equivalent to the following: -->
   <!--   <build_depend>roscpp</build_depend> -->
   <!--   <exec_depend>roscpp</exec_depend> -->
@@ -54,6 +49,13 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>iri_pioneer3_description</exec_depend>
+  <exec_depend>iri_velodyne_lidar_description</exec_depend>
+  <exec_depend>iri_bno055_imu_description</exec_depend>
+  <exec_depend>iri_realsense_depth_description</exec_depend>
+  
 
 
   <!-- The export tag contains other, unspecified, tags -->