diff --git a/README.md b/README.md
index 12d2a236..f382babd 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-RPLIDAR ROS package
+RPLIDAR ROS 2 Package
 =====================================================================
 
 ROS node and test application for RPLIDAR
@@ -13,39 +13,31 @@ rplidar SDK: https://github.com/Slamtec/rplidar_sdk
 
 rplidar Tutorial:  https://github.com/robopeak/rplidar_ros/wiki
 
-How to build rplidar ros package
+Getting Started
 =====================================================================
-    1) Clone this project to your catkin's workspace src folder
-    2) Running catkin_make to build rplidarNode and rplidarNodeClient
+1) Clone this project to your colcon workspace src folder.
+2) Build the package: ```colcon build --symlink-install```
 
-How to run rplidar ros package
+Running the Package
 =====================================================================
-There're two ways to run rplidar ros package
+There are two ways to run the RPLIDAR ROS 2 Package.
 
 I. Run rplidar node and view in the rviz
 ------------------------------------------------------------
-roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
-,
-roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
-or
-roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)
+RPLIDAR A1/A2: ```ros2 launch rplidar_ros view_rplidar.launch.py```
 
-You should see rplidar's scan result in the rviz.
+RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py```
+
+RPLIDAR S1: ```ros2 launch rplidar_ros view_rplidar_s1.launch.py```
 
 II. Run rplidar node and view using test application
 ------------------------------------------------------------
-roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
-,
-roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
-or
-roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)
-
-rosrun rplidar_ros rplidarNodeClient
+RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py``` OR ```ros2 run rplidar_ros rplidar_composition```
 
-You should see rplidar's scan result in the console
+RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py```
 
-Notice: the different is serial_baudrate between A1/A2 and A3/S1
+RPLIDAR S1: ```ros2 launch rplidar_ros rplidar_s1.launch.py```
 
-RPLidar frame
+Frame Orientation
 =====================================================================
-RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png
+<img src="rplidar_A1.png" alt="" height="300"/><img src="rplidar_A2.png" alt="" height="300"/>
diff --git a/launch/rplidar.launch.py b/launch/rplidar.launch.py
index aaca70f9..6d43c46b 100644
--- a/launch/rplidar.launch.py
+++ b/launch/rplidar.launch.py
@@ -5,9 +5,9 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            node_name='rplidar_composition',
+            name='rplidar_composition',
             package='rplidar_ros',
-            node_executable='rplidar_composition',
+            executable='rplidar_composition',
             output='screen',
             parameters=[{
                 'serial_port': '/dev/ttyUSB0',
diff --git a/launch/rplidar_a3.launch.py b/launch/rplidar_a3.launch.py
index 37a2d49f..53be197e 100644
--- a/launch/rplidar_a3.launch.py
+++ b/launch/rplidar_a3.launch.py
@@ -5,9 +5,9 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            node_name='rplidar_composition',
+            name='rplidar_composition',
             package='rplidar_ros',
-            node_executable='rplidar_composition',
+            executable='rplidar_composition',
             output='screen',
             parameters=[{
                 'serial_port': '/dev/ttyUSB0',
diff --git a/launch/rplidar_s1.launch.py b/launch/rplidar_s1.launch.py
index 26184d12..85bcbd67 100644
--- a/launch/rplidar_s1.launch.py
+++ b/launch/rplidar_s1.launch.py
@@ -5,9 +5,9 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            node_name='rplidar_composition',
+            name='rplidar_composition',
             package='rplidar_ros',
-            node_executable='rplidar_composition',
+            executable='rplidar_composition',
             output='screen',
             parameters=[{
                 'serial_port': '/dev/ttyUSB0',
diff --git a/launch/rplidar_s1_tcp.launch.py b/launch/rplidar_s1_tcp.launch.py
index c285a5e5..8f122112 100644
--- a/launch/rplidar_s1_tcp.launch.py
+++ b/launch/rplidar_s1_tcp.launch.py
@@ -5,9 +5,9 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            node_name='rplidar_composition',
+            name='rplidar_composition',
             package='rplidar_ros',
-            node_executable='rplidar_composition',
+            executable='rplidar_composition',
             output='screen',
             parameters=[{
                 'channel_type': 'tcp',
diff --git a/launch/test_rplidar_a3.launch.py b/launch/test_rplidar_a3.launch.py
index 33126113..f3b25b46 100644
--- a/launch/test_rplidar_a3.launch.py
+++ b/launch/test_rplidar_a3.launch.py
@@ -5,9 +5,9 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            node_name='rplidar_composition',
+            name='rplidar_composition',
             package='rplidar_ros',
-            node_executable='rplidar_composition',
+            executable='rplidar_composition',
             output='screen',
             parameters=[{
                 'serial_port': '/dev/ttyUSB0',
@@ -19,9 +19,9 @@ def generate_launch_description():
             }],
         ),
         Node(
-            node_name='rplidarNodeClient',
+            name='rplidarNodeClient',
             package='rplidar_ros',
-            node_executable='rplidarNodeClient',
+            executable='rplidarNodeClient',
             output='screen',
         ),
     ])
diff --git a/launch/view_rplidar.launch.py b/launch/view_rplidar.launch.py
index d42df73e..b44e09ad 100644
--- a/launch/view_rplidar.launch.py
+++ b/launch/view_rplidar.launch.py
@@ -10,7 +10,7 @@ def generate_launch_description():
         IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rplidar.launch.py'])),
         Node(
             package='rviz2',
-            node_executable='rviz2',
+            executable='rviz2',
             output='screen',
             arguments=['-d', [ThisLaunchFileDir(), '/../rviz/rplidar.rviz']],
         )
diff --git a/launch/view_rplidar_a3.launch.py b/launch/view_rplidar_a3.launch.py
index 21873b49..bb88d804 100644
--- a/launch/view_rplidar_a3.launch.py
+++ b/launch/view_rplidar_a3.launch.py
@@ -10,7 +10,7 @@ def generate_launch_description():
         IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rplidar_a3.launch.py'])),
         Node(
             package='rviz2',
-            node_executable='rviz2',
+            executable='rviz2',
             output='screen',
             arguments=['-d', [ThisLaunchFileDir(), '/../rviz/rplidar.rviz']],
         )
diff --git a/launch/view_rplidar_s1.launch.py b/launch/view_rplidar_s1.launch.py
index 934e01d9..39f001e2 100644
--- a/launch/view_rplidar_s1.launch.py
+++ b/launch/view_rplidar_s1.launch.py
@@ -10,7 +10,7 @@ def generate_launch_description():
         IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rplidar_s1.launch.py'])),
         Node(
             package='rviz2',
-            node_executable='rviz2',
+            executable='rviz2',
             output='screen',
             arguments=['-d', [ThisLaunchFileDir(), '/../rviz/rplidar.rviz']],
         )
diff --git a/launch/view_rplidar_s1_tcp.launch.py b/launch/view_rplidar_s1_tcp.launch.py
index 6a6ca40a..f262d603 100644
--- a/launch/view_rplidar_s1_tcp.launch.py
+++ b/launch/view_rplidar_s1_tcp.launch.py
@@ -10,7 +10,7 @@ def generate_launch_description():
         IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rplidar_s1_tcp.launch.py'])),
         Node(
             package='rviz2',
-            node_executable='rviz2',
+            executable='rviz2',
             output='screen',
             arguments=['-d', [ThisLaunchFileDir(), '/../rviz/rplidar.rviz']],
         )