diff --git a/README.md b/README.md
index 3aa6b46d607a4b23aff90254f938292aec726659..d123f1dbc15db4c3b7e1cc0176c3041d33b33913 100644
--- a/README.md
+++ b/README.md
@@ -32,4 +32,4 @@ whenever you need to use the robot.
 
 # Developers
 
-For advanced users and developers, [here<to_do>]() there is a more in depth information about the robot and all its dependencies.
+See [developers](developers.md) for advanced users and developers.
diff --git a/developers.md b/developers.md
new file mode 100644
index 0000000000000000000000000000000000000000..98a4e1d911e598709feedecce3e0318e5d94545a
--- /dev/null
+++ b/developers.md
@@ -0,0 +1,2 @@
+# Developers
+
diff --git a/ros_interface.md b/ros_interface.md
new file mode 100644
index 0000000000000000000000000000000000000000..4a6e75973f20e0112ae18d2198689094a213cb54
--- /dev/null
+++ b/ros_interface.md
@@ -0,0 +1,32 @@
+# ROS Interface
+
+## Topics
+
+### Published
+
+* /helena/odom ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)): platform odometry
+
+### Subscribed
+
+* /helena/cmd_vel ([geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)): velocity commands as linear speed (linear.x) and angular speed (angular.z)
+
+## Services
+
+### Servers
+
+*
+
+### Clients
+
+*
+
+## Actions
+
+### Servers
+
+*
+
+### Clients
+
+*
+
diff --git a/tutorials/real_robot.md b/tutorials/real_robot.md
index 0a3ba121a719cf2a7d1c407713286c97a1411b8e..a833e6c56c4fffd128c964b8cddc120d7d4b8922 100644
--- a/tutorials/real_robot.md
+++ b/tutorials/real_robot.md
@@ -6,4 +6,4 @@ The robot's on-board computer already has all the necessary ROS nodes to operate
 
 At this point, you should have acces to all the topic, services and actions provided by the robot.
 
-A complete list of all ROS interfaces is shown here: [to_do]().
\ No newline at end of file
+A complete list of all ROS interfaces is shown here: [ROS_interface](../ros_interface.md).
\ No newline at end of file
diff --git a/tutorials/simulation.md b/tutorials/simulation.md
index 6683f14bea4c6bb6605a60bdd9accc68424e66f6..4cb2a888ac28ca38156a310a2172d9db37e3e076 100644
--- a/tutorials/simulation.md
+++ b/tutorials/simulation.md
@@ -61,4 +61,4 @@ roslaunch iri_helena_gazebo sim_sample.launch rviz:=true world_name:=willow
 
 This command should launch the robot with all its sensors in an example world, shown in the Gazebo gui, and Rviz showing sensor data. 
 
-A complete list of all ROS interfaces is shown here: [to_do]().
\ No newline at end of file
+A complete list of all ROS interfaces is shown here: [ROS_interface](../ros_interface.md).
\ No newline at end of file