diff --git a/README.md b/README.md
index 72afcb465db55450cd48621d2a25f8157497f6d6..66d29353049c9274f12f6909967c21b10cf8c70e 100644
--- a/README.md
+++ b/README.md
@@ -14,11 +14,11 @@ The expected autonomy of the robot is around 5 hours, and it can operate on its
 In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot 
 provides:
 
- * A Low [cost IMU sensor]()
+ * A Low cost [IMU sensor]()
 
  * A [Velodyne PUCK Lidar]()
 
- * A [ZED stereo camera]()
+ * A [Real sense depth camera]()
 
 All theses sensors are mainly used for navigation and mapping purposes. 
 
@@ -48,26 +48,22 @@ whenever you need to use the robot.
 The required common dependencies for both the simulated and the real Ana robot 
 are listed below:
 
- * [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
-
  * [iri_ana_description](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description)
 
- * [iri_pioneer3_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_bringup)
-
- * [iri_bno055_imu_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup2Y)
+In order to use the real robot, the following dependencies are also required:
 
- * [iri_velodyne_lidar_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup)
+ * [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
 
-To build the workspace, make sure to follow the installation instructions from 
-each of the packages above.
+To build the workspace, make sure to follow the installation and setup 
+instructions from each of the packages above and their respective dependencies.
 
 In order to use the robot in simulation, the following dependencies are also 
 required: 
 
  * [iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo)
 
-To use the simulator, make sure to follow the installation instructions from 
-each of the packages above.
+To use the simulator, make sure to follow the installation and setup instructions 
+from each of the packages above and their respective dependencies.
 
 # Install
 
@@ -84,30 +80,17 @@ how to initialize the workspace and merge a rosinstall file with it.
 
 # How to use the real robot
 
-The test.launch file in the iri_ana_bringup package can be used as an starting 
-point to use the Ana robot. It sets up and launches all the necessary nodes to 
-use the robot. The launch file accepts the following parameters:
-
- * velodyne_config_file: (default: iri_ana_bringup/config/ana_velodyne_vlp16.yaml) 
-set of parameters for the Velodyne PUCK sensor. Please check the 
-[iri_velodyne_lidar_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup) 
-package for a more detailed description of the configuration parameters.
+To set up and use the real robot, follow the instructions in the 
+[iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
+ROS package.
 
- * velodyne_node_name: (default: front_laser) base name given to the velodyne 
-related nodes.
-
- * pioneer_config_file: (default: iri_ana_bringup/config/ana_pioneer.yaml) 
-set of parameters for the Pioneer3 platform. Please check the 
-[iri_pioneer3_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_bringup) 
-package for a more detailed description of the configuration parameters.
-
- * pioneer_node_name: (default: ana) base name given to the pioneer related 
-nodes.
-
- * output: (default: log) the desired output for all nodes. Possible values 
-for this parameter are log and screen.
+Also, carefully follow the procedures listed above to correctly handle the 
+robot.
 
 # How to use the simulated robot
 
+To use the robot in simulation, follow the instructions in the 
+[iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo)
+ROS package.
+
 
-#