diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c75bc6eb69b2ac29cbc9188186459d5cd3a7006
--- /dev/null
+++ b/README.md
@@ -0,0 +1,35 @@
+# Description
+
+The iri_dynamic_transform_publisher package broadcasts a tf transform between two frames as defined with dynamic reconfigure parameters. 
+
+Useful for dynamically adjust and find a desired static transform, to be replaced once found by a tf/static_transform_publisher node
+
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [iri_base_algorithm](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_algorithm)
+
+ * [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 <url-to>/iri_dynamic_transform_publisher.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 *node.launch* file is intended to be included anywhere needed.
+
+The *test.launch* file shows an example of usage, including node.launch, running rqt_reconfigure to adjust the transform parameters, and showing the transform on Rviz.
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 3a0eb1feb74b3356a101d56368589ee27b16939c..6f0947fc7beee9fb7eb2823eeb617386897cfc3b 100644
--- a/package.xml
+++ b/package.xml
@@ -51,9 +51,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>iri_base_algorithm</build_depend>
-  <build_export_depend>iri_base_algorithm</build_export_depend>
-  <exec_depend>iri_base_algorithm</exec_depend>
+  <depend>iri_base_algorithm</depend>
   <depend>tf</depend>