diff --git a/README.md b/README.md
index 52e340e71e885ee602359b9c689860c7bce9aa77..6355ccac0d24da714adaff75f6d1b4ed405ff48c 100644
--- a/README.md
+++ b/README.md
@@ -18,70 +18,53 @@ whenever you need to use the robot.
 A Gazebo model for the 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 dabo_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 
+* 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 dabo_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 dabo_sim.rosinstall file available on this repository. From the src folder, execute:
+        ```
+        roscd
+        cd ../src
+        wstool init dabo_sim.rosinstall
+        ```
 
-```
-roscd
-cd ../src
-wstool init dabo_sim.rosinstall
-```
-
- If you want to use an existing ROS workspace:
-
+* 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 dabo_sim.rosinstall file available on this repository with the existing rosinstall file following the steps 
    in this [tutorial](http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files). From the src folder, execute:
-
-```
-roscd
-cd ../src
-wstool merge dabo_sim.rosinstall
-```
-
- * Download the simulator packages by executing the following command from the src folder:
-
-```
-wstool update
-```
-
- * Compile the newly downloaded packages with the following command:
-
-```
-cd ..
-catkin_make 
-```
-
-Once the setup process is complete, start the simulator with the following command:
-
-```
-roslaunch iri_dabo_gazebo sim_sample.launch
-```
-
-This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all 
+        ```
+        roscd
+        cd ../src
+        wstool merge dabo_sim.rosinstall
+        ```
+* Download the simulator packages by executing the following command from the src folder:
+    ```
+    wstool update
+    ```
+* Install dependencies:
+    ```
+    roscd
+    cd ../src
+    rosdep install -i --from-paths . -r
+    ```
+* Compile the newly downloaded packages with the following command:
+    ```
+    cd ..
+    catkin_make 
+    ```
+* Launch: once the setup process is complete, start the simulator with the following command:
+    ```
+    roslaunch iri_dabo_gazebo sim_sample.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]().
-
 # How to use the real robot
 
-
+...
 
 ## What to do next