adding readme

ReadMe.md

-# ROS wrapper of the Error-State Kalman Filter based Odometry (Angel Santamaria-Navarro)
+# ROS wrapper of the Error-State Kalman Filter based Odometry
 
 
 This node is a ROS wrapper of the low-level library **eskf_odometry**.
@@ -7,47 +7,46 @@ This node is a ROS wrapper of the low-level library **eskf_odometry**.
 
 ### ROS dependencies
 
-#### iri_core
+ * **iri_core**
 
-````
+```
 svn co https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg_hydro/metapackages/iri_core
-````
+```
 
-#### std_msgs
-#### sensor_msgs
-#### nav_msgs
-#### px_comm
-#### tf
+  * **std_msgs**
+  * **sensor_msgs**
+  * **nav_msgs**
+  * **px_comm**
+  * **tf**
 
-### atools Library
+### eskf_odometry library
 
-You have to install asantamaria tools library:
+This is the main ESKF library from Angel Santamaria-Navarro. To install it run:
 
 ```
-  $ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
-  $ cd atools/build
+  $ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
+  $ cd eskf_odometry/build
   $ cmake ..
   $ make
-  $ sudo make install
+  $ sudo make install 
 ```
 
-### eigen3 Headers
-
-**Install** eigen3 in your sistem **following the instructions of the ReadMe file** provided in the tuxfamily package.
-You can download it at http://eigen.tuxfamily.org
+### atools Library
 
-## Installation
+You have to install Angel Santamaria-Navarro tools library:
 
 ```
-  $ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
-  $ cd eskf_odometry/build
+  $ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
+  $ cd atools/build
   $ cmake ..
   $ make
-  $ sudo make install 
+  $ sudo make install
 ```
 
+### eigen3 Headers
 
-
+**Install** eigen3 in your sistem **following the instructions of the ReadMe file** provided in the tuxfamily package.
+You can download it at http://eigen.tuxfamily.org
 
 
 ## License