From 27ec69f0fca0d4e83797adf27cfd74c941e9b9e8 Mon Sep 17 00:00:00 2001
From: Fernando Herrero <fherrero@iri.upc.edu>
Date: Wed, 3 Feb 2021 08:56:52 +0100
Subject: [PATCH] Update README.md

---
 README.md | 30 ++++++++++++++++++++----------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index da06bf8..497f092 100644
--- a/README.md
+++ b/README.md
@@ -1,17 +1,20 @@
 # IRI ADC DOCKER
 
-TODO: fill short description
+This is a guide to install the [CARNET ADC](https://autonomous-driving-challenge.com/) simulation environment using [Docker](https://docs.docker.com/get-started/overview/)
+
+Developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC, www.iri.upc.edu )
 
-Developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) (www.iri.upc.edu)
 Contact: labroboticamobil@iri.upc.edu
 
 ## Installation
 
-Install docker. (TODO: list tested SO)
+Install docker: 
 
   https://docs.docker.com/engine/install/
 
-If your computer has a NVIDIA GPU, install nvidia-docker (2.0) to use Hardware Acceleration:
+  The following OS have been tested: Ubuntu 16.04, Ubuntu 18.04.
+
+If your computer has a NVIDIA GPU, install nvidia-docker (2.0) to use Hardware Acceleration, otherwise you can skip this step:
 
   https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker
 
@@ -19,38 +22,45 @@ Enable docker run without need of sudo:
 
 ```bash
 sudo usermod -aG docker ${USER}
-su - ${USER}
+su - ${USER}  //or log out and log in
 sudo systemctl restart docker
 ```
 
-Create docker image from attached Dockerfile. Give it a name, for example, iri_adc.
+Download this repository somewhere in your computer and create a docker image using the provided Dockerfile. Give the image a name, for example, `iri_adc`.
 
 ```bash
-cd /path/to/Dockerfile
+git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_docker.git
+cd iri_adc_docker
 docker build -t iri_adc .
 ```
 
+When finished the image is ready to be used. You can list your docker images with `docker images` and the `iri_adc` image should be there.
+
 ## Usage
 
-Download PAL docker script:
+In order to be able to run GUI apps (like Gazebo and Rviz) from inside a docker container, we will use a script developed by PAL Robotics. 
+
+Download PAL docker script somewhere in your computer:
 
 ```bash
 git clone https://github.com/pal-robotics/pal_docker_utils
 cd pal_docker_utils/scripts
 ```
 
-Run container from created image:
+To run a container from the created image, use:
 
 ```bash
 ./pal_docker.sh -it iri_adc /bin/bash
 ```
 
-Now you can launch the system:
+Now, from within the container, you are ready to launch the ADC simulation:
 
 ```
 roslaunch iri_model_car_gazebo sim.launch
 ```
 
+A Gazebo window should open, showing and empty world with the model car spawned on it.
+
 TODO: Redirect to *_how_to repository with more examples.
 
 
-- 
GitLab