diff --git a/README.md b/README.md
index 66d29353049c9274f12f6909967c21b10cf8c70e..34ad815f0245ad90caab03d97ae17a53b3f9041b 100644
--- a/README.md
+++ b/README.md
@@ -24,6 +24,7 @@ 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.
@@ -89,8 +90,71 @@ 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.
+A Gazebo model for the Ana platform and all its sensors is provided to speed up the testing 
+process. 
+
+To set up the simulator, please follow the next steps:
+
+ * Install the following system dependencies:
+
+```
+sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins
+```
+
+ * If you want to use a new ROS workspace:
+
+  * create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+
+  * Copy the ana_sim.rosinstall file to the src folder of the new workspace.
+  
+  * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using 
+  the ana_sim.rosinstall file available on this repository. From the src folder, execute:
+
+```
+wstool init ana_sim.rosinstall
+```
+  
+ * If you want to use an existing ROS workspace:
+  
+  * Copy the ana_sim.rosinstall file to the src folder of the existing workspace.
+  
+  * Merge the ana_sim.rosinstall file available on this repository with the existing rosinstall file following the steps.
+in this [tutorial](http://wiki.ros.org/wstool). From the src folder, execute:
+
+```
+wstool merge ana_sim.rosinstall
+```
+
+ * Download the simulator packages by executing the followuing command from the src folder:
+
+```
+wstool update
+```
+
+ * compile the newly downloaded packages with the following command:
+
+```
+catkin_make --only-pkg-with-deps iri_ana_gazebo
+```
+
+Once the setup process is complet, start the simulator with the following command
+
+```
+roslaunch iri_ana_gazebo sim_test.launch
+```
+
+This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all 
+sensor data. The name and namespace of all topics, services and actions are exactly the same as in the real robot, although 
+not all of them are available.
+
+A complete list of all ROS interfaces is shown here:
+
+## What to do next
+
+To change the simulated environment edit the [] file and 
+
+To teleoprate the robot, follow the instructions in this tutorial[]
 
+To create a map of the simulated environment, follow the instructions in this tutorial[]
 
+To navigate the robot in the new environment, follow the instructions in this tutorial[]