Update README.md

README.md

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 # microstrain_3dm_gx5_45
 
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-
 ## Description
 
 Interface software, including ROS node, for Microstrain 3DM-GX5-45.
 
 The interface makes use of the MIP SDK Version 1.1 from Microstrain to communicate with the device.  Includes the following applications:
 
-  * GX4-45_Test : A port of the executable that comes with the SDK including minimial changes in the way the serial port is specified.  Running {rosrun microstrain_3dm_gx5_45 GX4-45_Test /dev/ttyACM0 115200} should run the tests on a unit as a first step.
+  * GX4-45_Test : A minimal port of the executable that comes with the SDK including minimial changes in the way the serial port is specified.  Running {rosrun microstrain_3dm_gx5_45 GX4-45_Test /dev/ttyACM0 115200} should run the tests on a unit as a first step.  The program runs through many diagnistics and is a good way to determine compatility with different hardware versions of the 3DM-GXX devices.
   * microstrain_3dm_gx5_45 : ROS node
 
 ## Dependencies
@@ -31,3 +29,54 @@ Here are the steps I took to build the code...
 
  The mip_sdk_user_functions are C functions that need to be called by various parts of the SDK.  The main purpose of these functions is to implement the platform-specific serial (RS232) port elements.  The prototype serial port open function takes the COM number as an integer input - which is clunky for Linux serial ports.  Changed this to take a string defining the port (e.g., /dev/ttyS0), but this necessitated also modifying the mip_sdk_interface.[ch] files, since this is what is called by the application - changed the mip_interface_init function to accept a string argument for specifying the port.
 
+ # microstrain_3dm_gx5_45
+ Documentation for the ROS node - to be moved to ROS wiki when driver is released
+
+ ## Published Topics
+
+ ~gps/fix (sensor_msgs/NavSatFix)
+
+ ~imu/data (sensor_msgs/Imu)
+
+ ~nav/odom (nav_msgs/Odometry)
+
+ ~nav/status (std_msgs/Int16MultiArray)
+
+
+ ## Services
+
+ ~reset_kf (std_srvs/Empty)  TODO
+
+ ## Parameters
+
+ ~port (string, default: /dev/ttyACM0) 
+The serial port to which the device is connected
+
+~baud_rate (integer, default: 115200) 
+Baud rate of the sensor. 
+
+~declination (double, default: 3.8)   TODO
+Magnetic declination for given area. 
+
+~gps_frame_id (string, default: world)
+Value for the frame_id field of the 
+
+~child_frame_id (string, default: /base_footprint)   TODO
+Odometry data will be published with this child_frame_id.
+
+~publish_pose (bool, default: true) 
+Sets if ~imu/pose should be advertised or not. 
+
+~publish_imu (bool, default: true) 
+Sets if ~imu/data should be advertised or not. 
+
+~publish_gps (bool, default: true) 
+Sets if ~gps/fix should be advertised or not. 
+
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