adding readme

ReadMe.md

+# ROS wrapper of the asantamaria Error-State Kalman Filter based Odometry
+
+
+This node is a ROS wrapper of the low-level library **eskf_odometry**.
+
+## Dependencies
+
+### ROS dependencies
+
+#### 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
+
+### atools Library
+
+You have to install asantamaria tools library:
+
+```
+  $ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
+  $ cd atools/build
+  $ cmake ..
+  $ make
+  $ 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
+
+## Installation
+
+```
+  $ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
+  $ cd eskf_odometry/build
+  $ cmake ..
+  $ make
+  $ sudo make install 
+```
+
+
+
+
+
+## License
+
+Copyright (C) 
+
+Author Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+
+All rights reserved.
+
+This file is part of eskf_odom ROS node.
+
+eskf_odom is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+