Update README

README.md

 # Description
 
 The iri_dabo_description ROS package contains physical descriptions of the Dabo robot built at IRI. 
-The following files are provided:
-
- * Main xacro file to import the robot.
-
- * Other Xacro macros with all the elements available on the 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:
- 
-    * node_name: (default: robot) base name given to the platform
-related nodes.
- 
-    * model: (default: segway_example) name of the xacro file to include.
-    
-    * static_wheels: (default: false) publishes static transforms for wheel links, useful with the real robot when there is no joint information available
-
- * test.launch: loads the description launch and shows the model in Rviz
 
 # Dependencies
 
 This node has the following dependencies:
 
- * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
- 
- * [joint_state_publisher](http://wiki.ros.org/robot_state_publisher)
-
- * [iri_segway_rmp200_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_description)
-
- * [iri_hokuyo_laser2d_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_description)
+  * [iri_segway_rmp200_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_description)
+  * [iri_hokuyo_laser2d_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_description)
+  * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+  * [xacro](http://wiki.ros.org/xacro)
+  * [tf](http://wiki.ros.org/tf)
 
 # Install
 
@@ -40,7 +20,7 @@ repository inside the active workspace:
 ```
 roscd
 cd ../src
-git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_dabo_description.git 
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/dabo/iri_dabo_description.git 
 ```
 
 However, this package is normally used as part of a wider installation (i.e. a
@@ -49,5 +29,21 @@ rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
 
 # How to use it
 
-The *dabo.xacro* file shows an example of how to include the xacro 
-macro in another xacro file.
\ No newline at end of file
+The following files are provided:
+
+ * dabo.xacro: an example xacro file of how to include the xacro 
+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 these
+arguments:
+ 
+  ** ns: (default: dabo) base name given to the platform
+related nodes.
+ 
+  ** model: (default: dabo) 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

@@ -49,14 +49,12 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-
+  <exec_depend>iri_segway_rmp200_description</exec_depend>
+  <exec_depend>iri_hokuyo_laser2d_description</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>tf</exec_depend>
 
-  <exec_depend>iri_segway_rmp200_description</exec_depend>
-  <exec_depend>iri_dabo_gazebo</exec_depend>
-  <exec_depend>iri_hokuyo_laser2d_description</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>