From 771e350305cf070b2e4672b7ca412179392aad94 Mon Sep 17 00:00:00 2001
From: jacobperron <jacobmperron@gmail.com>
Date: Sat, 24 Mar 2018 16:03:24 -0700
Subject: [PATCH] Update README

---
 README.md | 44 ++++++++++++++++++++++++++++++--------------
 1 file changed, 30 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index eea48b5..249e635 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,7 @@
 
 C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roomba. [create_autonomy](http://wiki.ros.org/create_autonomy) is a [ROS](http://www.ros.org/) wrapper for this library.
 
-* Documentation: TODO
-* Code API: TODO
+* [Code API](http://docs.ros.org/kinetic/api/libcreate/html/index.html)
 * Protocol documentation:
   - [`V_1`](http://www.ecsl.cs.sunysb.edu/mint/Roomba_SCI_Spec_Manual.pdf) (Roomba 400 series )
   - [`V_2`](http://www.irobot.com/filelibrary/pdfs/hrd/create/Create%20Open%20Interface_v2.pdf) (Create 1, Roomba 500 series)
@@ -11,28 +10,45 @@ C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com
 * Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
 * Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98)
 
+## Build Status ##
+
+![Build Status](https://api.travis-ci.org/AutonomyLab/libcreate.svg?branch=master)
+
 ## Dependencies ##
 
 * [Boost System Library](http://www.boost.org/doc/libs/1_59_0/libs/system/doc/index.html)
 * [Boost Thread Library](http://www.boost.org/doc/libs/1_59_0/doc/html/thread.html)
 
-## Install ##
+#### Serial Permissions ####
 
-* `cmake CMakeLists.txt`
-* `make`
-* `sudo make install`
+User permission is requried to connect to Create over serial. You can add your user to the dialout group to get permission:
 
-## Example ##
+        sudo usermod -a -G dialout $USER
 
-See source for examples.
+Logout and login again for this to take effect.
 
-Example compile line: `g++ create_demo.cpp -lcreate -lboost_system -lboost_thread`
+## Build ##
 
-## Known issues ##
+Note, the examples found in the "examples" directory are built with the library.
+
+#### cmake ####
+
+        git clone https://github.com/AutonomyLab/libcreate.git
+        cd libcreate
+        mkdir build && cd build
+        cmake ..
+        make -j
+
+#### catkin ####
+
+        mkdir -p create_ws/src
+        cd create_ws
+        catkin init
+        cd src
+        git clone https://github.com/AutonomyLab/libcreate.git
+        catkin build
+
+## Known Issues ##
 
 * _Clock_ and _Schedule_ buttons are not functional. This is a known bug related to the firmware.
 * Inaccurate odometry angle for Create 1 ([#22](https://github.com/AutonomyLab/libcreate/issues/22))
-
-## Build Status ##
-
-![Build Status](https://api.travis-ci.org/AutonomyLab/libcreate.svg?branch=master)