Update README

README.md

+# Description
+
+This ROS package contains physical descriptions of the Helena robot, based on the Pioneer3 platform from ActivMedia. 
+
+# Dependencies
+
+This node has the following dependencies:
+
+  * [iri_helena_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/Pioneer3/iri_helena_description)
+  * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+  * [xacro](http://wiki.ros.org/xacro)
+  * [tf](http://wiki.ros.org/tf)
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/helena/iri_helena_description.git 
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+The following files are provided:
+
+ * helena.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: helena) base name given to the platform
+related nodes.
+ 
+  ** model: (default: helena_example) 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

@@ -2,12 +2,12 @@
 <package format="2">
   <name>iri_helena_description</name>
   <version>0.0.0</version>
-  <description>The iri_helena_description package</description>
+  <description>Set of launch files to run and configure the Helena robot.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+  <maintainer email="labrobotica@iri.upc.edu">IRI labrobotica</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->