diff --git a/README.md b/README.md
index 7a3429a..a4a1970 100644
--- a/README.md
+++ b/README.md
@@ -1,93 +1,22 @@
 # as2_platform_mavlink
 
+[Aerostack2](https://aerostack2.github.io/) Aerial platform for autopilots that uses MAVLINK as communication standard
 
-[Aerostack2](https://aerostack2.github.io/) Aerial platform for the PX4 autopilot
+## Setup guides
 
-For a complete installation guide follow [PX4 instructions](https://aerostack2.github.io/_03_aerial_platforms/_mavlink/index.html#installation)
+From [MAVROS ROS INDEX](https://index.ros.org/p/mavros/).
 
+Setup with ```rosdep``` or 
+```
+sudo apt install ros-<distro>-mavros ros-<distro>-mavros-extras -y 
+```
 
+After this is required to install geographic_lib_datasets
 
+```
+wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
+chmod +x install_geographiclib_datasets.sh
+./install_geographiclib_datasets.sh
+```
 
-## Multiple PX4 Operation modes:
 
-![image info](./docs/mavlink_odometry.png)
-
-
-## PX4 Msgs:
-
-### Availables:
-
-* /fmu/in/obstacle_distance
-* /fmu/in/offboard_control_mode
-* /fmu/in/onboard_computer_status
-* /fmu/in/sensor_optical_flow
-* /fmu/in/telemetry_status
-* /fmu/in/trajectory_setpoint
-* /fmu/in/vehicle_attitude_setpoint
-* /fmu/in/vehicle_command
-* /fmu/in/vehicle_mocap_odometry
-* /fmu/in/vehicle_rates_setpoint
-* /fmu/in/vehicle_trajectory_bezier
-* /fmu/in/vehicle_trajectory_waypoint
-* /fmu/in/vehicle_visual_odometry
-* /fmu/out/failsafe_flags
-* /fmu/out/sensor_combined
-* /fmu/out/timesync_status
-* /fmu/out/vehicle_attitude
-* /fmu/out/vehicle_control_mode
-* /fmu/out/vehicle_global_position
-* /fmu/out/vehicle_gps_position
-* /fmu/out/vehicle_local_position
-* /fmu/out/vehicle_odometry
-* /fmu/out/vehicle_status
-
-
-### Used:
-
-* IMU: 
-/fmu/out/sensor_combined
-* Set Control Mode: 
-/fmu/out/vehicle_control_mode
-* Get GPS: 
-/fmu/out/vehicle_gps_position
-* Get position: 
-/fmu/out/vehicle_odometry
-
-* Set control Mode: 
-/fmu/in/offboard_control_mode
-* Set trajectory reference: 
-/fmu/in/trajectory_setpoint
-* Set attitude reference: 
-/fmu/in/vehicle_attitude_setpoint
-* Set rate reference: 
-/fmu/in/vehicle_rates_setpoint
-* Send vehicle command for arm: 
-/fmu/in/vehicle_command
-* Send vehicle visual odometry: 
-/fmu/in/vehicle_visual_odometry
-
-
-### Not Availables:
-
-* Get battery status: 
-"/fmu/out/battery_status"
-* Kill switch: 
-fmu/in/manual_control_switches
-
-
-### Not Used:
-
-* /fmu/in/obstacle_distance
-* /fmu/in/onboard_computer_status
-* /fmu/in/sensor_optical_flow
-* /fmu/in/telemetry_status
-* /fmu/in/vehicle_mocap_odometry
-* /fmu/in/vehicle_trajectory_bezier
-* /fmu/in/vehicle_trajectory_waypoint
-* /fmu/out/failsafe_flags
-* /fmu/out/timesync_status
-* /fmu/out/vehicle_attitude
-* /fmu/out/vehicle_control_mode
-* /fmu/out/vehicle_global_position
-* /fmu/out/vehicle_local_position
-* /fmu/out/vehicle_status