add small description and howto

README.md

@@ -1,2 +1,27 @@
 # otto_serial_driver
-ROS driver for Otto
+
+ROS driver for Otto.
+
+
+## Description
+
+The node ``` otto_serial_driver.py ``` is used to communicate with Otto.
+It performs the following tasks:
+
+- Open the serial port
+- Reset the MCU
+- Transmit the startup configuration
+- Listen for messages on cmd_vel, and transmit the last cmd_vel received every 100ms to the MCU
+- Receives data from Otto, publish it on ```otto_ticks``` topic
+- Publishes odometry and tf transform
+
+The node ``` otto_pid_tuning.py ``` is used to tune PID parametes.
+It subscribes to ```cmd_vel``` and ```otto_ticks``` and publishes a ```otto_pid_tuning_val``` message.
+You can use ```rqt_plot``` to plot the values and tune your PID.
+
+
+## How to 
+
+Use ```rosdep``` to install the dependencies needed.
+
+In the ```launch``` folder you can find the launch files, launch ```otto_serial_driver.launch``` to start the communication with Otto, using the parameters specified in ```config/firware_parameters.yaml```.

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>otto_serial_driver</name>
-  <version>0.0.1</version>
+  <version>1.0.0</version>
   <description>The otto_serial_driver package</description>
 
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