Update README.md

Added the dynamic reconfigure parameters.

README.md

@@ -5,11 +5,12 @@ and four color markers placed at known positions. At least three color markers h
 a pose estimation.  
 
 This node requires one YAML configuration file for each of the color markers (this configuration files can be generated with
-the iri_color_calibration tool) and also the position of the markers with respect of the world frame (which can also be 
-provided with a YAML configuration file).
+the [iri_color_calibration](https://gitlab.iri.upc.edu/seat_adc/iri_color_calibration "IRI color calibration tool") tool, and 
+also the position of the markers with respect of the world frame (which can also be provided with a YAML configuration file).
 
 When this node does not have enough information to estimate the vehicle pose, it returns the last valid pose estimation,
-until enough markers are detected again.
+until enough markers are detected again. The information provided by this node is published as a ROS odometry message and also 
+as at TF transform.
 
 The camera has to be properly calibrated in order to reduce the estimation error.
 
@@ -41,6 +42,30 @@ This node provides the following service clients:
  * **~/set_exposure** (iri_visual_gps/set_exposure.srv): This service is used to change on-line the exposure time of the camera used. This exposure time
 must coincide with the one used to obtain the color filtering parameters of the four colors.
 
+## parameters
+
+This node has the following parameters. These parameters can be modified with the dynamic reconfigure tool.
+
+ * **world_frame** (string): name of the reference frame used for the world. This name is used when publishing TF and odometry data.
+ * **odom_gps_frame** (string): name of the reference frame used for the GPS specific odometry to avoid conflicts with the normal odometry.
+This name is used when publishing TF and odometry data.
+ * **color1_id** (string): Identifier of the first color. This identifier must match only one of identifier received through the colorX_blobs topics.
+ * **color1_x** (double): X coordinate in meters of the color marker for the first color.
+ * **color1_y** (double): Y coordinate in meters of the color marker for the first color.
+ * **color1_z** (double): Z coordinate in meters of the color marker for the first color.
+ * **color2_id** (string): Identifier of the second color. This identifier must match only one of identifier received through the colorX_blobs topics.
+ * **color2_x** (double): X coordinate in meters of the color marker for the second color.
+ * **color2_y** (double): Y coordinate in meters of the color marker for the second color.
+ * **color2_z** (double): Z coordinate in meters of the color marker for the second color.
+ * **color3_id** (string): Identifier of the third color. This identifier must match only one of identifier received through the colorX_blobs topics.
+ * **color3_x** (double): X coordinate in meters of the color marker for the third color.
+ * **color3_y** (double): Y coordinate in meters of the color marker for the third color.
+ * **color3_z** (double): Z coordinate in meters of the color marker for the third color.
+ * **color4_id** (string): Identifier of the fourth color. This identifier must match only one of identifier received through the colorX_blobs topics.
+ * **color4_x** (double): X coordinate in meters of the color marker for the fourth color.
+ * **color4_y** (double): Y coordinate in meters of the color marker for the fourth color.
+ * **color4_z** (double): Z coordinate in meters of the color marker for the fourth color.
+ 
 # Dependencies
 
 This node has the following dependencies: