Updated the README file.

README.md

 # iri_ana_how_to
 
-Documentation on how to set up and use the Ana robot
\ No newline at end of file
+The Ana robot is based on a Pioneer 3 AT platform which has been updated with:
+
+ * A new [state of the art computer](http://www.fit-pc.com/web/products/ipc3/)
+
+ * Custom 250Wh motor battery from AMOPACK with monitoring electronics.
+
+ * Custom 500Wh payload battery from AMOPACK with monitoring electronics.
+
+The expected autonomy of the robot is around 5 hours, and it can operate on its
+ own with the embedded computer.
+
+In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot 
+provides:
+
+ * A Low [cost IMU sensor]()
+
+ * A [Velodyne PUCK Lidar]()
+
+ * A [ZED stereo camera]()
+
+All theses sensors are mainly used for navigation and mapping purposes. 
+
+The upper part of the robot provides additional sensors and computers to detect 
+and track people in urban environments. These sensors include:
+ * 
+
+and are placed on top of a custom pan&tilt platform.
+
+A fully featured gazebo model is also provided to test the robot in simulation. 
+
+# Robot description
+
+
+
+# Procedures
+
+Here are the basic precedures to use the robot. Please follow them carefully 
+whenever you need to use the robot.
+
+ * Startup, operation and shutdown:
+
+ * Battery management:
+
+# Dependencies
+
+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)
+
+ * [iri_velodyne_lidar_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup)
+
+To build the workspace, make sure to follow the installation instructions from 
+each of the packages above.
+
+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.
+
+# Install
+
+All these ROS packages, and their dependencies, can be manually added to the 
+ROS workspace. A simpler option is to use one of the rosinstall files provided 
+with this repository:
+
+ * real_ana.rosinstall: all the necessary packages to set up the real robot.
+
+ * sim_ana.rosinstall: all the necessary packages to use the robot in simulation.
+
+See the [wstool](http://wiki.ros.org/wstool) documentation for more details on 
+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.
+
+ * 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.
+
+# How to use the simulated robot
+
+
+#