update readme

diff --git a/utils/catkin_ws/README.md b/utils/catkin_ws/README.md
index 9ed818906fff5f5e92879f2f0d43c97021c71dd8..65c66108804dff05ea2b1993b5d19f94090cb952 100644 (file)
--- a/utils/catkin_ws/README.md
+++ b/utils/catkin_ws/README.md
@@ -2,10 +2,16 @@
 
 This workspace contains useful ros nodes to drive Otto and get the odometry.
 
-ROS nodes:
+ROS packages and nodes:
 
-* joy_to_cmd_vel: used to translate joy msgs to cmd_vel msgs
-* cmd_vel_transmitter: used to send the velocities setpoints to the board through the serial adapter.
+* jopad_bridge:
+    * joy_to_cmd_vel: used to translate joy msgs to cmd_vel msgs
+    
+* serial_bridge:
+    * serial_transmitter: subscribes to cmd_vel_throttled and send the velocities setpoints to the board through the serial adapter.
+    * serial_receiver: receives otto_status and publish odometry and tf.
 
 ROS launches:
-* joypad.launch: launches the necessary nodes to drive Otto with a joypad. Requires joy, joy_to_cmd_vel, cmd_vel_transmitter.
+* serial\_bridge.launch: launches serial_bridge nodes.
+* joypad.launch: launches the necessary nodes to drive Otto with a joypad. Requires joy, joy\_to\_cmd\_vel, serial_bridge.launch
+* dario.launch: launches rosserial node needed for Dario's joypad. Thanks Dario.
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